You can set spark.driver.maxResultSize parameter in the SparkConf object:
from pyspark import SparkConf, SparkContext
# In Jupyter you have to stop the current context first
sc.stop()
# Create new config
conf = (SparkConf()
.set("spark.driver.maxResultSize", "2g"))
# Create new context
sc = SparkContext(conf=conf)
You should probably create a new SQLContext as well:
from pyspark.sql import SQLContext
sqlContext = SQLContext(sc)