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To clean up the used space you would need to delete the form submissions with files. These are the only ones that take space - so if a submission does not have an image, it can stay as it is and it will not take your space, but as soon as there is a file or more attached, it will use the same.
Before removing it, I do suggest downloading all of the required details since otherwise it would no longer be possible to get them after the removal. Once you download all that you need, just removing them will immediately clear our your space usage.
To confirm, the form does not take any space neither (just submissions with files), so you do not need to remove the form unless you want to do so.
Hope this helps, but please do let us know if you happen to have any additional questions.