Small Transport
Flight Crew Air Transport Pilot (ATP); Flight Crew Multiengine; Flight Crew Instrument; Flight Crew Flight Instructor; Flight Crew Flight Engineer
Flight Crew Last 90 Days 125; Flight Crew Total 21750; Flight Crew Type 895
Communication Breakdown
ATC Issue All Types; Inflight Event / Encounter CFTT / CFIT
Air Traffic Control Issued Advisory / Alert; Air Traffic Control Issued New Clearance; Flight Crew FLC complied w / Automation / Advisory
Airspace Structure; Human Factors; Environment - Non Weather Related; Chart Or Publication
Received my clearance to fly the WLKKR 3 RNAV Departure from VNY airport. The departure requires to be at or below 1750 ft 1.5 DME south and then the clearance was to 4000 ft. As I was leveling off at 1700 ft and switching to Departure; I reported in to Departure Control my altitude and climbing to 4000; the Controller stated low altitude warning. The frequency was very busy and the Controller again stated low altitude warning; I turned to a heading of 240 as I had all the terrain in sight and was climbing. The terrain warning system was never activated or any GPWS (Ground Proximity Warning System) warnings; no RA (Resolution Advisory)/TA (Traffic Advisory) TCAS (Traffic Collision Avoidance System) alerts. I was then cleared to an intersection and higher along the route.
Pilot reported receiving a low altitude report from ATC while on published SID.