Purge all content
For Varnish 2.x:
varnishadm -S /etc/varnish/secret -T :6082 'purge.url .*'
For Varnish 3.x:
varnishadm -S /etc/varnish/secret -T :6082 'ban.url .'
Purge objects from a specific URL
For Varnish 2.x:
varnishadm -S /etc/varnish/secret -T :6082 'purge.url /foobar'
For Varnish 3.x:
varnishadm -S /etc/varnish/secret -T :6082 'ban.url == /foobar'
Note that ban accepts regex pattern. By modifying the expression you can create more specific bans. For example, to purge for all CSS files only for a specific domain:
varnishadm -S /etc/varnish/secret -T :6082 'ban req.http.host ~ www.mydomain.com && req.url ~ .css'
Further Reading and sources