You can reduce the amount of 'String creation and array manipulation like this:
private char[] splitary = new char[] {'\n','\r'};
StringBuilder sb = new StringBuilder(maze);
sb.Replace(" ", String.Empty);
sb.Replace('0', 'X');
sb.Replace('1', '#');
var trimmed = sb.ToString().Split(splitary, StringSplitOptions.RemoveEmptyEntries);
char[][] ary = new char[][]
{
(trimmed[0].ToCharArray()),
(trimmed[1].ToCharArray())
};
But, keep in mind that using an automatic Array initializer means you cannot specify the 'Length.