I think Destiny's UI has been pretty good in terms of visual style anyway (but it is pretty easy to use as well.) I also like the Uncharted menus for 1, 2. I can't remember how the third one was but I remember thinking that whoever was doing their UI was no longer with them because it didn't feel like it was from the same person. The Last of Us and Uncharted 4 menu weren't bad but it wasn't as stylish as UC1/2.
Someone else already posted this but it reminded me of it; Halo Reach menu was pretty good too.