When I had this same problem with mysql5.6.20 installed with Homebrew, I solved it by going into my.cnf

nano /usr/local/Cellar/mysql/5.6.20_1/my.cnf

Find the line that looks like so:

sql_mode=NO_ENGINE_SUBSTITUTION,STRICT_TRANS_TABLES

Comment above line out and restart mysql server

mysql.server restart

Error gone!