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Filesystem Size Used Avail Use% Mounted on
/dev/mapper/VolGroup00-LogVol00 625G 339G 254G 58% /
/dev/sda1 99M 83M 12M 88% /boot
tmpfs 1.8G 0 1.8G 0% /dev/shm
none 1.8G 104K 1.8G 1% /var/lib/xenstored
As you can see, /boot is only 99MB and 88% full ie 12MB free.
I know that some sites may say that's enough, but really that's only to run with one kernel defined.
On RH (and others) you would want to allow for eg 3 kernels: new, current, previous.
I'd recommend at least 512MB for /boot.