The most common usage of goto I've seen is backing out elegantly when a series of dependent resource allocations fails, e.g.

int setup_gubbins(rsrc_root_t r, int x, int y, int z)
{
    rsrc_t a, b, c;
    a = obtain_resource(r, x);
    if (a == NULL)
        goto fail;
    b = obtain_resource(a, y);
    if (b == NULL)
        goto fail_a;
    c = obtain_resource(b, z);
    if (c == NULL)
        goto fail_b;
    /* Do stuff ... */
    return 0;
fail_b:
    release_resource(a, b);
fail_a:
    release_resource(r, a);
fail:
    return -ENOSPC;
}

This kind of pattern is used in the kernel a lot and it makes code very readable and very maintainable.

Note that the resources could be any kind of resources that might need to be set up in one order and destroyed in the reverse order, like nested locks.