If the used disk space is more important for you than the version history, then you could make a clean checkout and reimport your projects into a new repository. The old repositories could then be stored in a compressed archive.
If you don't want to lose the complete history, then this article might be interesting for you: Delete parts of subversion history
If you don't want to lose the complete history, then this article might be interesting for you: Delete parts of subversion history
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