I arrived at this page whilst looking for the same error message.
For me the cause was different: I had ran a yum update
on the system that installed a new kernel. The guest additions where out of date so it couldn't load them.
I rebuilt them with
sudo /etc/init.d/vboxadd setup
And a vagrant reload
later my guest was up and running again.
I'm just adding it here in case someone else gets here the same way I did.
Edit (Per KCD's comment):
It is possible that you get an error saying:
The headers for the current running kernel were not found
This can be resolved by installing kernel-devel
(yum install kernel-devel
)