This will do:
add_filter('post_row_actions', 'wpse_56560_remove_untrash', 10, 2);
add_filter('page_row_actions', 'wpse_56560_remove_untrash', 10, 2);
function wpse_56560_remove_untrash( $actions, $post )
{
if( !isset( $actions['untrash'] ) )
return $actions;
// If NOT administrator, remove Untrash
if( !current_user_can('administrator') )
unset( $actions['untrash'] );
return $actions;
}