If found the problem...
The cause is the following : there is a mistake in some color command in the 
05_debian_theme default file.
I'm not an expert, but reading the code in 05_debian_theme I understand that 
either you have a background image and the generated code is
  set menu_color_normal=${COLOR_NORMAL}
  set menu_color_highlight=${COLOR_HIGHLIGHT}
either you have no background image and the code calls set_mono_theme() 
definded as
  set menu_color_normal=light-magenta/black
  set menu_color_highlight=white/black
Notice the subtle difference. in the generadted grub.cfg file, the result of 
this code is clear :
if background_image /boot/grub/background.png ; then
  set color_normal=light-magenta/black
  set color_highlight=white/black
else
  set menu_color_normal=light-magenta/black
  set menu_color_highlight=white/black
fi

As you can see, the color command are not the same depending on weither
you have a bkgd img or not. But this is a mistake. As pointed by
http://grub.enbug.org/ListeDesCommandes the color_* commands have been
replaced by menu_color_* ones.

So you have to insert "menu_" before "color_normal" and
"color_hightlight" in 05_debian_theme (lines 49&50 in Ubuntu 10.04)

I attached a path for /etc/grub.d/05_debian_theme from Ubuntu 10.04. You
must cd to  /etc/grub.d/ to apply it.

** Patch added: "05_debian_theme-menu_color.patch"
   http://launchpadlibrarian.net/48399601/05_debian_theme-menu_color.patch

-- 
Grub Text Color w/ Splash Image
https://bugs.launchpad.net/bugs/517887
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