Any pull down or drop down menu for iOS?

No, there is no such thing within the iOS SDK and that is for a good reason - those elements are just not pretty, funky and usable well enough when acting on a touch display.

Consider using UIPickerView or UISegmentedControl instead.

But if you insist, check sites like Cocoa Controls for some derivates. Some of them are actually well done.

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Ages later, things have changed - mostly due to the vastly increased screen estate. We now have UIMenu.

You may want to check the PullableView view discussed here

This is a sample image with a pullable view from the top, bottom, and left side. The one at the bottom is open already.