Comment 17 for bug 1175637

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Id2ndR (id2ndr) wrote :

Even without using unattended install on Ubuntu 14.04, the kernels are marked as manually installed. This prevent apt autoremove from removing unneeded kernel.

So I needed to do this tricks:
sudo apt-mark auto $(apt-mark showmanual | grep linux-image)

Then I can run normally:
sudo apt-get autoremove