Definitely review George's comment as you need to figure out why they're being crawled. As Andrea said, any solution takes time, I'm sorry to say. Robots.txt is not a good solution for getting pages removed that are already indexed, especially in bulk. It's better at prevention than cure.
META NOINDEX can be effective, or you could rel=canonical these pages to the appropriate non-AJAX URL - not sure exactly how the structure is set up. Those are probably the two fastest and more powerful approaches. Google parameter handling (in Webmaster Tools) is another option, but it's a bit unpredictable whether they honor it and how quickly.
You can only do mass removal if everything is in a folder, if I recall. There's no way to bulk remove unless all of the pages are structurally under one root URL.