The workshop manual is not much help for this task. It simply says "gently unclip the storage compartment and cupholder unit, with the flap open."
A search on eBay as below gives a good photo of a removed unit :-
Renault VEL SATIS 3.0dci v6 Breaking – Pop out Cupholders Cup Holders & Tray
Item number of this auction is 361916408922
The photo of the unit offered for sale seems to show 2 metal clips at the top on either end of the unit, which I assume can be freed by sliding a thin plastic pry tool in at the appropriate points, and you then wiggle the whole assembly out.
Hope this helps.