While I don't recommend deleting drivers, if you are really desperate for the space, just delete the folders you don't think you'll need.
In the printers folder there are a bunch of folders named for the manufacturer of the drivers stored within them. If you don't need the drivers for that printer, delete them.
I have never done this before, so make sure you have a backup via time machine before you go deleting any drivers. I would hate to see you mess up your computer trying to free up HD space.
If you really need the HD space, before you go deleting drivers I would recommend running an app like
monolingual. You can delete language files you don't need, as well as support for other processor architectures that you don't need. It is a lot safer, presumably, than deleting drivers.