virtualbox-dkmsをインストールしました
$ sudo apt-get install virtualbox-dkms
DKMS: install completed.
* Stopping VirtualBox kernel modules [ OK ]
* Starting VirtualBox kernel modules [ OK ]
Setting up virtualbox (4.3.34-dfsg-1+deb8u1ubuntu1.14.04.1) ...
* Stopping VirtualBox kernel modules [ OK ]
* Starting VirtualBox kernel modules [ OK ]
Setting up virtualbox-qt (4.3.34-dfsg-1+deb8u1ubuntu1.14.04.1) ...
$ vagrant up
Bringing machine 'default' up with 'virtualbox' provider...
==> default: Importing base box 'lucid32'...
==> default: Matching MAC address for NAT networking...
==> default: Setting the name of the VM: chef-repo_default_1449661717604_69994
==> default: Clearing any previously set network interfaces...
==> default: Preparing network interfaces based on configuration...
default: Adapter 1: nat
==> default: Forwarding ports...
default: 22 => 2222 (adapter 1)
==> default: Booting VM...
==> default: Waiting for machine to boot. This may take a few minutes...
default: SSH address: 127.0.0.1:2222
default: SSH username: vagrant
default: SSH auth method: private key
default: Warning: Connection timeout. Retrying...