You can look to the core admin modules as an example. For instance, take a look at the Log Viewer module (Event viewer page under the admin menu). If you go to Host -> Extensions and edit the module definition, you see the "Deploy" permissions are set for Administrators. 

Amrish is correct, if you only want to prevent the users from seeing it on the specific page/instance (If this is your requirement, you should do as Amrish suggested). If you wish to only permit administrators to see the module for placement on a page (meaning, as a selectable module in the control panel) you should look into my post about deploy permissions.