I executed the shell script given in How do I delete kernels from a server?. It deleted old kernels but not their associated kernel entries in the Grub 2 menu. For example, the shell script did not remove the Grub 2 entry »Ubuntu, mit Linux 3.2.0-24-generic (Wiederherstellungsmodus) (on /dev/sda8)« and »Ubuntu, mit Linux 3.2.0-14-server«.
The best tool that I've found for Grub2 (and Burg) management is Grub Customizer.
As shown in the image below, you can specify the order of kernels, the default kernel to run, and even manually add grub parameters. (I happen to be using burg, but burg is just a graphical wrapper for grub, so the config is the same).
This site (from which that's quoted) provides a complete tutorial on how to do this.