Do you have a separate /boot partition?
Usually it's just the kernels in /boot. You can safely remove them to free up space with this command:
sudo apt-get remove --purge $(dpkg -l 'linux-image-*' | sed '/^ii/!d;/'"$(uname -r | sed "s/\(.*\)-\([^0-9]\+\)/\1/")"'/d;s/^[^ ]* [^ ]* \([^ ]*\).*/\1/;/[0-9]/!d')