He sent me text messages after he was served.
Yes. Whether you can withdraw it depends on whether this is a criminal order of protection or a family court order of protection. If you filed a family offense petition and were issued an order of protection, you can withdraw it and the order will be vacated. However, if he violated it while it was in effect, he could still face charges. If it is a criminal order of protection, that it is up to the DA, although you could certainly inform the DA that you do not wish for him to be prosecuted and that may have an effect on his/her decision.
When you say withdraw it? Do you mean sign a "waiver for dismissal" with the DA's office? Do you mean meet with the police department/assigned arresting officer to "recant" the allegations concerning the violation" or do you mean appear at his next court date a d request from the DA and defense counsel to make out a record regarding your interest on this matter.