Use "dpkg -r kernel-image-x.x.xx" or if the kernel was the originally installed one:
#$ cd /boot/
#$ ls
You can now see the System.map-x.x.xx, config-x.x.xx, vmlinuz-x.x.xx for each kernel in use. Remove the files related to the kernel you wish to remove.
#$ rm System.map-x.x.xx
#$ rm config-x.x.xx
#$ rm vmlinuz-x.x.xx
Remove the associated modules as well.
#$ rm -r /lib/modules/x.x.xx/
Update grub and modify /boot/grub/menu.lst for any custom changes.
#$ update-grub
This should do.
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