The first thing I would do is look at Google Analytics for the past year (or more) to see if those pages have any traffic. You've mentioned that you looked at that, but didn't say how long of a time it was.
Typically, we do recommend redirecting those pages to the most appropriate current page on the website. If those pages don't have anything to do with what you're current selling or offering, then you might want to simply server up a 404 error (ideally a 410 gone error).
I would also look at the links, such as by using Open Site Explorer or Majestic.com to make sure there aren't any external sites linking to those pages. If there are external links to certain pages, you'll want to redirect them.