You can do this by creating your own ColorTable, and overriding the properties you wish to change the colour of:
public class TestColorTable : ProfessionalColorTable
{
public override Color MenuItemSelected
{
get { return Color.Red; }
}
public override Color MenuBorder //added for changing the menu border
{
get { return Color.Green; }
}
}
You would use it like this:
private void Form1_Load(object sender, EventArgs e)
{
menuStrip1.Renderer = new ToolStripProfessionalRenderer(new TestColorTable());
}