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CASE 1: If you use multi-stage docker builds you will end up with lots of un-tagged images.
The proper way to clean the intermediary leftover images is:
docker rmi $(docker images -f "dangling=true" -q)
CASE 2: If you want to clean up all the old images for which you no longer have any instantiated container
docker image purge
CASE 3: If you want to delete all stopped containers and their images
docker container purge docker image purge
Note: Be very careful the above will remove ALL stopped containers, so make sure that if you want to keep a container alive it has to be running when commands are issued.