function _custom_menu_overview_tree_form($tree) {
  $output = '';
  foreach ($tree as $data) {
    $item = $data['link'];
    if ($item && $item['hidden'] == 0) {
      if(strtolower($item['title']) == 'about us page condition'){
            $output .= '<li class="right-nav">';
      }else{
            $output .= '<li>';
      }
      (0 == $item['plid']) ? ($class = 'parent') : ($class = 'child');

      if(isset($item['options']['attributes'])) {
        $attributes = array('attributes' => array_merge($item['options']['attributes'], array('class' => array($class))));
      } else {
        $attributes = array('attributes' => array('class' => array($class)));
      }

      $output .= l($item['title'], $item['href'], $attributes);

      if ($data['below']) {
        $output .= '<ul class="sub-menu">' . _custom_menu_overview_tree_form($data['below']) . '</ul>';
      }
      $output .= '</li>';
    }
  }
  return $output;
}

$menu_items = menu_tree_all_data('your menu name');
echo '<ul class="foot-nav">' . _custom_menu_overview_tree_form($menu_items) . '</ul>';