BP Direct Menus

Completely integrated with the wordpress menu system so your theme’s menu menu styling is used.

Basic log in/out and register menu items that are only visible when appropriate.

Awesome custom menu item type will let you link to any page that requires the username as part of the url (example.com/members//messages). Tons of tags can be used to customize the menu text:
* User Info: username, firstname, lastname, displayname
* BuddyPress counts: unreadmessagecount, friendcount, groupcount
* BuddyPress counts that hide when zero: (unreadmessagecount), (friendcount), (groupcount)
* BuddyPress/WordPress avatar: avatar, avatar-thumb, avatar-mini

This plugin works great with “Menu Items Visibility Control” to only show menu items to certain roles/levels.
Also, try “WP ToolBar Removal” to totally replace the ugly unthemed wordpress/buddypress menu.