Ubuntu systems (especially those with auto-updates enabled) fill up /boot with kernel images over time.
Here is a quick and dirty command to clean installed kernel packages on Ubuntu systems. It will keep the currently running kernel and the newest installed kernel package:
apt-get --purge remove $(dpkg-query --list 'linux-image-3*' | grep '^ii' | sed '$d' | grep -v $(uname -r) | sed -e 's/.linux-image-(3(.[0-9]+)+-[0-9]+).$/\1/' | sed -e 's/^(.)$/linux-.-\1.*/')