If you aren't too worried about folks surfing with an IE browser less than 5 - hardly anyone is using IE 4.x anymore, and even if they are, they know it is a piece of crap, you can just use a conditional:
HTML Code:
<!--[if lt IE 6]>
Whatever you'd like to tell the poor souls goes here.
<![endif]-->
No script, PHP, etc. required. IE 5 through and including 5.x will see that, no one else will. It's ordinary HTML to those browsers, a comment to all others.
If you really mean precisely IE 5.5 and less (I don't think there was a version between that and 6), you can use:
HTML Code:
<!--[if lte IE 5.5]>
Whatever you'd like to tell the poor souls goes here.
<![endif]-->
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