thiudis

This plugin allows you to display a custom menu that you’ve created in your theme’s “Menus” section in a post or page. Use [menu name=”Menu Name”] in your post or page to insert the custom menu. The “name” attribute is required. Since version 1.2, you can now provide a “title” attribute to add a header title to your custom menu (e.g. [menu name=”Menu Name” title=”My Menu”].)
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Custom Menu

This plugin allows you to display a custom menu that you've created in your theme's "Menus" section in a post or page.

Amit Sukapure

This plugin gives more flexibility for custom menu. Shortcodes will be used to show your menu in the Sidebars, Footer Sidebars, Posts or Pages. 
Using shortcode you can customize the menu attributes. Also you can set your custom id or class to a menu. You can display ordered list menu as well.
We have added the option of display style so users can display menu inline or block.
The main feature is that, we have enhanced the sub menu to display it more effectively. You can disable this feature.
We will create your shortcode for you in just simple steps.

Shortcode Menu

Display your menu anywhere in simple and quick steps.

Custom Menu vs Shortcode Menu