Pilot reported receiving a low altitude report from ATC while on published SID.

Attributes
ACN	1662136
Time
Date	201907
Local Time Of Day	1201-1800
Place
Locale Reference	VNY.Airport
State Reference	CA
Environment
Flight Conditions	VMC
Light	Daylight
Aircraft 1
Make Model Name	Small Transport
Operating Under FAR Part	Part 91
Flight Phase	Initial Climb
Route In Use	SID WLKKR THREE
Flight Plan	IFR
Person 1
Function	Captain Pilot Flying Single Pilot
Qualification	Flight Crew Air Transport Pilot (ATP) Flight Crew Multiengine Flight Crew Instrument Flight Crew Flight Instructor Flight Crew Flight Engineer
Experience	Flight Crew Last 90 Days 125 Flight Crew Total 21750 Flight Crew Type 895
Events
Anomaly	ATC Issue All Types Inflight Event / Encounter CFTT / CFIT

Narrative:

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.

Original NASA ASRS Text

Title: Pilot reported receiving a low altitude report from ATC while on published SID.

Narrative: 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.

Data retrieved from NASA's ASRS site and automatically converted to unabbreviated mixed upper/lowercase text. This report is for informational purposes with no guarantee of accuracy. See NASA's ASRS site for official report.