Start Menu Cleaner is a freeware utility, which cleans the start menu by removing un-needed empty shortcuts and folders.
Most applications add folders and shortcuts to the start menu. The problem is, when you remove a program, sometimes its folders and shortcuts remain in the start menu.
After a while, this can make the start menu messy and cluttered up. Start Menu Cleaner scans all shortcuts in your start menu and removes empty folders and shortcuts which points to files that no longer exist. The result is a smaller, cleaner and more efficient start menu.
Download: Start Menu Cleaner.
I tried it on my Windows 7 and it worked well. This utility requires MSVBVM50.DLL, so you may have to download it from the link given in its home page, in case your version of Windows does not have it, and place it in your Windows folder.