You can do this with remove_menu_page. Add the appropriate menu slug in your functions.php of your theme or your plugin.
<?php remove_menu_page( $menu_slug ) ?>
Note that users can still access these menus using a direct link. If you intend to block a user from accessing a menu, you will have to set up a user role and make sure they don’t have the relevant capabilities.
Here is a list of slug examples for the menus included in a clean WordPress install.
<?php
function remove_menus(){
remove_menu_page( 'index.php' ); //Dashboard
remove_menu_page( 'edit.php' ); //Posts
remove_menu_page( 'upload.php' ); //Media
remove_menu_page( 'edit.php?post_type=page' ); //Pages
remove_menu_page( 'edit-comments.php' ); //Comments
remove_menu_page( 'themes.php' ); //Appearance
remove_menu_page( 'plugins.php' ); //Plugins
remove_menu_page( 'users.php' ); //Users
remove_menu_page( 'tools.php' ); //Tools
remove_menu_page( 'options-general.php' ); //Settings
}
add_action( 'admin_menu', 'remove_menus' );
?>