Here's a more generic approach:
The following refinement of @martinh3's approach will remove all namespace prefixes (leaving the namespace declarations, which will simply do nothing) in one hit:
rex field=_raw mode=sed "s/(<\/?)([\w\d-]+):(\w+)([ \/>])/\1\3\4/g"
This will remove all namespace prefixes made up of word characters, numbers or "-".
If you are simply applying this to the whole raw message, then you can actually leave out 'field=_raw' or if you have extracted your XML into a field as part of a search, the replace 'field=_raw' with 'field=yourfieldname'.
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