To remove an old kernel and free up disk space use  "sudo apt-get remove
linux-image-<old version>-generic"

However,  if you tried to install a new kernel and installation failed due to 
lack of disk space you should follow these steps:
1. Move temporarily "initrd.img-<old version>-generic" and "vmlinuz-<old 
version>-generic" from boot to other location
2. "sudo dpkg --configure -a"
3. Move temporarily "initrd.img-<new version>-generic" and "vmlinuz-<new 
version>-generic" from boot to other location
4. sudo apt-get remove linux-image-<old version>-generic"
5. Move back "initrd.img-<new version>-generic" and "vmlinuz-<new 
version>-generic"

Replace <old version> and <new version> with proper kernel version.

-- 
package linux-image-2.6.24-19-generic 2.6.24-19.33 [modified: 
lib/modules/2.6.24-19-generic/modules.pcimap 
lib/modules/2.6.24-19-generic/modules.dep 
lib/modules/2.6.24-19-generic/modules.ieee1394map 
lib/modules/2.6.24-19-generic/modules.usbmap 
lib/modules/2.6.24-19-generic/modules.isapnpmap 
lib/modules/2.6.24-19-generic/modules.seriomap 
lib/modules/2.6.24-19-generic/modules.alias 
lib/modules/2.6.24-19-generic/modules.symbols] failed to install/upgrade: 
subproces post-installation script gaf een foutwaarde 2 terug
https://bugs.launchpad.net/bugs/238988
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