From Mithril Software:
Start Menu Cleaner is a freeware utility that removes unneeded shortcuts and folders added by most programs during installation. These folders and shortcuts often remain in the Start menu after removal of their corresponding programs, leaving a messy buildup of orphaned shortcuts. Start Menu Cleaner scans all shortcuts in this menu and removes empty folders and shortcuts that point to files that no longer exist. The result is a smaller, cleaner, more efficient Start menu. Click here
to see a screen shot.