There are two errors in your code:
First, you cannot use a parameter to express a table name or a column name. So your field parameter is not valid in this context.
Second, you cannot use a parameter to express the whole set of values for the IN clause. In your example the parameter @fieldID will be translated in 
WHERE ..... IN ('1,2,3,4')
It will be treated as a string not as the individual values to be included in your where context-
For the field part, if you are absolutely sure that the string field parameter passed to your method is not typed directly by your user then you could use a string concatenation expression (well you are already doing this for the table so the warning is good also for that value)
String.Format("SELECT COUNT(*) FROM {0} WHERE {1} IN (....)", table, field);
For the IN part, I suggest, instead of passing the string, to build, in the calling function, a list of parameters to be added at the query.
public void deleteRows(string table, string field, List<SqlParameter> inParameters)
{
    StringBuilder sb new StringBuilder();
    sb.AppendFormat("SELECT COUNT(*) FROM {0} WHERE {1} IN (", table, field));
    using(SqlCommand cmd = new SqlCommand())
    {
        cmd.Connection = connection;
        // Loop over the parameter list, adding the parameter name to the 
        // IN clause and the parameter to the SqlCommand collection
        foreach(SqlParameter p in inParameters)
        {
            sb.Append(p.Name + ",");
            cmd.Parameters.Add(p);
        }
        // Trim out the last comma
        sb.Length--;
        // Close the IN clause
        sn.Append(")";
        cmd.CommandText = sb.ToString();
        fieldCount = (int)command.ExecuteScalar();
    }
}