The listtag seems supposed to be an attribute for the shortcode, but apparently missing from the code which extracting attributes:
extract(shortcode_atts(array(
'orderby' => 'menu_order ASC, ID ASC',
'id' => $post->ID,
'itemtag' => 'dl',
'icontag' => 'dt',
'captiontag' => 'dd',
'columns' => 3,
'size' => 'thumbnail',
'include' => '',
'ids' => ''
), $attr));
I commented out the line:
$listtag = tag_escape($listtag);
Now the error message is gone and the plugin works without problems.