For loops are a bad construct for this.
Using while
var numbers = new List<int>(Enumerable.Range(1, 3));
while (numbers.Count > 0)
{
    numbers.RemoveAt(0);
}
But, if you absolutely must use for
var numbers = new List<int>(Enumerable.Range(1, 3));
for (; numbers.Count > 0;)
{
    numbers.RemoveAt(0);
}
Or, this:
public static class Extensions
{
    public static IList<T> Remove<T>(
        this IList<T> numbers,
        Func<T, bool> predicate)
    {
        numbers.ForEachBackwards(predicate, (n, index) => numbers.RemoveAt(index));
        return numbers;
    }
    public static void ForEachBackwards<T>(
        this IList<T> numbers,
        Func<T, bool> predicate,
        Action<T, int> action)
    {
        for (var i = numbers.Count - 1; i >= 0; i--)
        {
            if (predicate(numbers[i]))
            {
                action(numbers[i], i);
            }
        }
    }
}
Usage:
var numbers = new List<int>(Enumerable.Range(1, 10)).Remove((n) => n > 5);
However, LINQ already has RemoveAll() to do this
var numbers = new List<int>(Enumerable.Range(1, 10));
numbers.RemoveAll((n) => n > 5);
Lastly, you are probably better off using LINQ's Where() to filter and create a new list instead of mutating the existing list. Immutability is usually good.
var numbers = new List<int>(Enumerable.Range(1, 10))
    .Where((n) => n <= 5)
    .ToList();