I was able to reproduce this using the latest VirtualBox version 1.6.2
source downloaded directly from Sun. Note that the Ubuntu repo has a
very old 1.5.6

I traced the VirtualBox makefile (line 138 of 
./out/linux.x86/release/bin/src/Makefile) and it checks to make sure 2 values 
match:
* uname -r
* /usr/src/linux-headers-2.6.24-19-generic/include/config/kernel.release

The kernel.release file has the (erroneous?) value "2.6.24.3". I fixed
it by:

cd /usr/src/linux-headers-2.6.24-19-generic/include/config/kernel.release
cp -p kernel.release kernel.release.bak
uname -r > kernel.release

Afterwards, VirtualBox compilation should proceed as normal.

-- 
problems with kernel 2.6.24.19 reporting as 2.6.24.3
https://bugs.launchpad.net/bugs/247055
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