getMenuLinksAsArray.php

<?php
function getMenuItems($menu_name) {
    $menu_items = array();
    $previous_id = 0;
    foreach(wp_get_nav_menu_items($menu_name) as $item) {
        if($item->menu_item_parent == 0) {
            // Parent item
            array_push($menu_items, array(
                'title' => $item->post_title,
                'link' => $item->url,
                'children' => array()
            ));
            $previous_id = $item->ID;
        } else {
            // Child item
            $parent = array_pop($menu_items);
            array_push($parent['children'], array(
                'title' => $item->post_title,
                'link' => $item->url
            ));
            array_push($menu_items, $parent); 
        }
    }
    return $menu_items;
}

// Usage

$items = getMenuItems('Primary Menu'));