The plugin vagrant-vbguest solved my problem:
$ vagrant plugin install vagrant-vbguest
Output:
$ vagrant reload
==> default: Attempting graceful shutdown of VM...
...
==> default: Machine booted and ready!
GuestAdditions 4.3.12 running --- OK.
==> default: Checking for guest additions in VM...
==> default: Configuring and enabling network interfaces...
==> default: Exporting NFS shared folders...
==> default: Preparing to edit /etc/exports. Administrator privileges will be required...
==> default: Mounting NFS shared folders...
==> default: VM already provisioned. Run `vagrant provision` or use `--provision` to force it
Just make sure you are running the latest version of VirtualBox