You can do this by going to your
C:Documents and SettingsUser NameApplication DataMozillaFirefoxProfiles directory. From there it might be either
xxxxxxx.defaultchrome or
default.xxxchrome. Create/edit the userChrome.css file, then add to it the following code:
menubar > menu
{
display: none !important;
}
You can also just hide specific menu items which you can do using the following code:
menulabel="Name" {
display: none !important;
}