Most people ask to use a single line which is this:
DELETE FROM wp_posts WHERE post_type = 'revision';
But the best way to get all the revisions out is also check the wp_term_relationships as well as the wp_postmeta like this:
DELETE a,b,c
FROM wp_posts a
LEFT JOIN wp_term_relationships b
ON (a.ID = b.object_id)
LEFT JOIN wp_postmeta c
ON (a.ID = c.post_id)
WHERE a.post_type = 'revision';