Many times when we design custom master page, we comment out the code block inside the master page which is responsible of showing the Navigation Breadcrumb inside the ribbon. That block is present under the div tag with id 's4-workspace' and with asp:ContentPlaceHolder id="PlaceHolderPageTitleInTitleArea".
So make sure this ContentPlaceHolder is not commented out. If you don't want it to appear in your master page, you can use the Style="display:none" function as shown below. Save it and go back to the page where you got the error and try to save it. You will see the page will be saved without throwing any error!