Wordpress - Retrieving a list of menu items in an array

As @vancoder mentions, wp_get_nav_menu_items() is the way to go, however I think a better detailed answer would be more helpful for people in the future.

Said function returns an array of WP_Post Object objects (so you access the values with an arrow, eg. $item->title).

For a basic setup, you could use the following:

$menuLocations = get_nav_menu_locations(); // Get our nav locations (set in our theme, usually functions.php)
                                           // This returns an array of menu locations ([LOCATION_NAME] = MENU_ID);

$menuID = $menuLocations['primary']; // Get the *primary* menu ID

$primaryNav = wp_get_nav_menu_items($menuID); // Get the array of wp objects, the nav items for our queried location.

Then you can just loop over that $primaryNav variable, for example:

foreach ( $primaryNav as $navItem ) {

    echo '<li><a href="'.$navItem->url.'" title="'.$navItem->title.'">'.$navItem->title.'</a></li>';

}

wp_get_nav_menu_items would appear to be exactly what you require. It returns an array of menu objects.

Modified version of above with recursive loops.

Add To Functions.php

function wp_get_menu_array($current_menu='Main Menu') {

    $menu_array = wp_get_nav_menu_items($current_menu);

    $menu = array();

    function populate_children($menu_array, $menu_item)
    {
        $children = array();
        if (!empty($menu_array)){
            foreach ($menu_array as $k=>$m) {
                if ($m->menu_item_parent == $menu_item->ID) {
                    $children[$m->ID] = array();
                    $children[$m->ID]['ID'] = $m->ID;
                    $children[$m->ID]['title'] = $m->title;
                    $children[$m->ID]['url'] = $m->url;
                    unset($menu_array[$k]);
                    $children[$m->ID]['children'] = populate_children($menu_array, $m);
                }
            }
        };
        return $children;
    }

    foreach ($menu_array as $m) {
        if (empty($m->menu_item_parent)) {
            $menu[$m->ID] = array();
            $menu[$m->ID]['ID'] = $m->ID;
            $menu[$m->ID]['title'] = $m->title;
            $menu[$m->ID]['url'] = $m->url;
            $menu[$m->ID]['children'] = populate_children($menu_array, $m);
        }
    }

    return $menu;

}