I have a menu like so:

The normal (unselected) state for each cell is an image, the selected s
iOS 8.0 (and later) using Swift
Swift 2
override func tableView(tableView: UITableView, shouldHighlightRowAtIndexPath indexPath: NSIndexPath) -> Bool {
return true
}
override func tableView(tableView: UITableView, didHighlightRowAtIndexPath indexPath: NSIndexPath) {
var cell = tableView.cellForRowAtIndexPath(indexPath)
cell?.contentView.backgroundColor = UIColor.orangeColor()
cell?.backgroundColor = UIColor.orangeColor()
}
override func tableView(tableView: UITableView, didUnhighlightRowAtIndexPath indexPath: NSIndexPath) {
var cell = tableView.cellForRowAtIndexPath(indexPath)
cell?.contentView.backgroundColor = UIColor.blackColor()
cell?.backgroundColor = UIColor.blackColor()
}
Swift 3
override func tableView(_ tableView: UITableView, shouldHighlightRowAt indexPath: IndexPath) -> Bool {
return true
}
override func tableView(_ tableView: UITableView, didHighlightRowAt indexPath: IndexPath) {
let cell = tableView.cellForRow(at: indexPath)
cell?.contentView.backgroundColor = UIColor.orange
cell?.backgroundColor = UIColor.orange
}
override func tableView(_ tableView: UITableView, didUnhighlightRowAt indexPath: IndexPath) {
let cell = tableView.cellForRow(at: indexPath)
cell?.contentView.backgroundColor = UIColor.black
cell?.backgroundColor = UIColor.black
}
