The folks from AV-Test have conducted a 12-month endurance test, involving 897 evaluations for each security software for Windows 10 and took a conclusion.
They performed their research on two different stages: installed virus removal tools on infected systems and evaluated the results and disabled the security software so that the systems can get infected and again, evaluated the results.
Four of the tested solutions were capable of eliminating all the malware samples: Avira Antivirus Pro, Kaspersky Internet Security 2016/2017, Malwarebytes Anti-Malware and Avast! Free Antivirus 2016. Avira Antivirus Pro has also managed to remove all the registry keys so it scored best in all the tests.
Bitdefender Internet Security 2016/2017, Symantec Norton Security and G Data Internet Security have provided good performance as well, but missed malware in a few cases.
Among the bootable antimalware/recovery software, Kaspersky Virus Removal Tool ruled them all and managed to remove all the malware samples, while the others failed.
The screenshots below are self explanatory.
Personally, I am a fan of Malwarebytes Anti Malware when it comes to cleaning up infected computers, but I also use AdwCleaner, Zemana and HitmanPro, hoping to remove all the leftovers that were not spotted by my first virus scan. My favorite free antivirus is Avast!, because it is lightweight and has a lot of features.