I was wondering how to do this because I've been struggling with it the last 2 hours (making a minecraft minigame map).
21 Answer
First you will have to scoreboard tag arrows when they are in the ground using {inGround:1b}:
scoreboard players tag @e[type=arrow] add inGround {inGround:1b}Then you can target them with a kill command:
kill @e[tag=inGround]1