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This question already has an answer here:

I have noticed that when grub boots up I don't get a black screen on my monitor. I want to make it so that it will show every time I boot, not just when I turn it off manually and then turn it on again. Thank you in advance for your help.

marked as duplicate by Pilot6, Eric Carvalho, waltinator, Ron, Community Jul 21 '15 at 6:08

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Edit /etc/default/grub and edit lines to look like:
GRUB_DEFAULT=0
#GRUB_HIDDEN_TIMEOUT=0
GRUB_HIDDEN_TIMEOUT_QUIET=false
GRUB_TIMEOUT=10

After you've done this run sudo update-grub and reboot. Now the grub menu should appear.

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