First I'm going to show it using the --dry-run switch with apt-get. That way you can give it a try without actually changing your system.
dpkg -l linux-* | awk '/^ii/{ print $2}' | grep -v -e `uname -r | cut -f1,2 -d"-"` | grep -e [0-9] | grep -E "(image|headers)" | xargs sudo apt-get --dry-run remove
If everything looks good after the dry run, you can go ahead and remove the old kernels with:
dpkg -l linux-* | awk '/^ii/{ print $2}' | grep -v -e `uname -r | cut -f1,2 -d"-"` | grep -e [0-9] | grep -E "(image|headers)" | xargs sudo apt-get -y purge