I\'m doing a get request to the following URL (with {id} replaced with the id from the web interface):
https://www.googleapis.com/calendar/v3/calendars/{id}
I would double-check the scope is included - I've seen that exact message when I've requested the wrong scope. Visiting https://www.googleapis.com/oauth2/v1/tokeninfo?access_token=xxxxxx is a good way to verify.
Assuming that checks out, make sure that the user that you have the access token for has permission to view the calendar that you're trying to access. "Gears" icon -> "Settings" -> "Calendars" -> (select calendar) -> "Share this calendar"