Print created menu directly in a page
Try this:

$menu = menu_navigation_links('menu-your-custom-menu-name');
print_r (theme('links__menu_your_custom_menu_name', array('links' =&gt; $menu)));


Source: How to print a menu in Drupal 7 ? and the next comment is also useful: printing custom secondary menu when the user is logged out.

Changelog for Drupal 7: Use #theme='links_MODULE' or #theme='links_MODULE_EXTRA_CONTEXT' when adding links to a render array.

Edit: new version using menu_tree()

$menu = menu_tree('main-menu');
$menuhtml = drupal_render($menu);
print_r($menuhtml);