First check your current version.
uname -a
Then run the following command:
dpkg -l 'linux-*' | sed '/^ii/!d;/'"$(uname -r | sed "s/\(.*\)-\([^0-9]\+\)/\1/")"'/d;s/^[^ ]* [^ ]* \([^ ]*\).*/\1/;/[0-9]/!d'
This command will list all packages that you no longer need. So for every package listed do the following:
sudo apt-get -y purge some-kernel-package