You can do this different ways, either by deleting Apps you don't use, to erasing music and video content. Apps can be removed from the phone itself by pressing down one of the icons until the Apps start to wiggle. Then press the 'X' on the ones you want to delete (on latest firmware). Music has to be removed though iTunes.
As long as we have used our iPhone, there is a possibility that a large amount of caches, cookies, temp files have stored on device and eats up the finite space day by day. We can free up iPhone space without removing music, videos, apps, you can try to remove caches, cookies, and temp files to free up space. If you want to find a easy and simple way to clear, you can try a software like PhoneClean to release the storage.
Step 1. Free download and install PhoneClean on computer > Connect your iPhone to computer.
Step 2. Click on "Quick Clean" button > Pick up the trash you want to clear > Tap on "Start Scan" to begin scanning.
Step 3. After scanning, tap on "Clean" button to clear out the trash and free up space.
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Load it up on itunes.
Click down the left hand side, one your iphone button.
then look at the bottom, there is a colour bar, indicating what space is used up for what.
It should then tell you how much space is free.