I just got the same error with an up-to-date kernel and virtualbox:

shankao@maldita:~$ dpkg -l virtualbox* | grep ii
ii  virtualbox                     5.1.16-dfsg-1 amd64        x86 
virtualization solution - base binaries
ii  virtualbox-dkms                5.1.16-dfsg-1 all          x86 
virtualization solution - kernel module sources for dkms
ii  virtualbox-guest-additions-iso 5.1.16-1      all          guest additions 
iso image for VirtualBox
ii  virtualbox-qt                  5.1.16-dfsg-1 amd64        x86 
virtualization solution - Qt based user interface
shankao@maldita:~$ uname -a
Linux maldita 4.10.0-11-generic #13-Ubuntu SMP Wed Mar 1 21:27:28 UTC 2017 
x86_64 x86_64 x86_64 GNU/Linux
shankao@maldita:~$

After running "sudo dpkg-reconfigure virtualbox-dkms" and rebooting,
it's back working again.

With previous kernels, the vbox module was being rebuilt correctly.
Answering to some previous comment's questions:

"Do you have some manual kernel installed, or did you delete the
triggers doing the rebuild automatically?"

No manual kernels, no trigger removal unless some package upgrade did
it. How can I check if it's in place?

** Changed in: virtualbox (Ubuntu)
       Status: Incomplete => Confirmed

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https://bugs.launchpad.net/bugs/1639310

Title:
  Failed to start LSB: VirtualBox Linux Kernel Module

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