You would need to edit the file
In this file you'll find an entry called
GRUB_CMDLINE_LINUX_DEFAULT. This entry must be edited to control the display of the splash screen.
The presence of the word
splash in this entry enables the splash screen, with condensed text output. Adding
quiet as well, results in just the splash screen; which is the default for the desktop edition since 10.04. In order to enable the "normal" text start up, you would remove both of these.
So, the default for the desktop, (i.e. splash screen only):
For the traditional, text display:
After editing the file, you need to run
For more details, see this: https://help.ubuntu.com/community/Grub2