A former Hanover town employee was charged Wednesday with stealing more than $42,000 in public funds, town officials said. At her arraignment in Hingham District Court, Elizabeth Driscoll, the town’s former assistant treasurer, pleaded not guilty to charges of larceny over $250 and trespassing, said a spokeswoman for Plymouth District Attorney Timothy J. Cruz. Driscoll was released on personal recognizance, Cruz’s office said. Driscoll, 48, was let go in December 2012 after a routine review found irregularities in Hanover’s monthly receipts, Town Manager Troy Clarkson said in a statement. The criminal charges were the result of a subsequent audit, Clarkson said.