我使用下面的代码为iOS 9和它的工作对我来说很好。我也使用阴影颜色的标题。

self.navigationItem.title = @"MY NAV TITLE";
self.navigationController.navigationBar.barTintColor = [UIColor redColor];
self.navigationController.navigationBar.translucent = NO;
NSShadow *shadow = [[NSShadow alloc] init];
shadow.shadowColor = [UIColor colorWithRed:0.0 green:0.0 blue:0.0 alpha:0.8];
shadow.shadowOffset = CGSizeMake(0, 1);
[self.navigationController.navigationBar setTitleTextAttributes: [NSDictionary dictionaryWithObjectsAndKeys:
                                                       [UIColor colorWithRed:245.0/255.0 green:245.0/255.0 blue:245.0/255.0 alpha:1.0], NSForegroundColorAttributeName,
                                                       shadow, NSShadowAttributeName,
                                                       [UIFont fontWithName:@"HelveticaNeue-Light" size:21.0], NSFontAttributeName, nil]];

希望这对你有所帮助。

谢谢

Swift 4和4.2版本:

 self.navigationController.navigationBar.titleTextAttributes = [NSAttributedString.Key.foregroundColor: UIColor.green]

这是我基于史蒂文斯的解决方案

唯一真正的区别是，如果根据文本长度，我将一些处理用于调整位置，似乎与苹果的做法类似

UILabel *titleLabel = [[UILabel alloc] initWithFrame:CGRectMake(([self.title length] < 10 ? UITextAlignmentCenter : UITextAlignmentLeft), 0, 480,44)];
titleLabel.backgroundColor = [UIColor clearColor];
titleLabel.font = [UIFont boldSystemFontOfSize: 20.0f];
titleLabel.shadowColor = [UIColor colorWithWhite:0.0 alpha:0.5];
titleLabel.textAlignment = ([self.title length] < 10 ? UITextAlignmentCenter : UITextAlignmentLeft);
titleLabel.textColor = [UIColor redColor];
titleLabel.text = self.title;
self.navigationItem.titleView = titleLabel;
[titleLabel release];

您可能需要根据字体大小调整10值

根据Steven Fisher的回答，我写了这样一段代码:

- (void)setTitle:(NSString *)title
{
    [super setTitle:title];
    UILabel *titleView = (UILabel *)self.navigationItem.titleView;
    if (!titleView) {
        titleView = [[UILabel alloc] initWithFrame:CGRectZero];
        titleView.backgroundColor = [UIColor clearColor];
        titleView.font = [UIFont boldSystemFontOfSize:20.0];
        titleView.shadowColor = [UIColor colorWithWhite:0.0 alpha:0.5];

        titleView.textColor = [UIColor yellowColor]; // Change to desired color

        self.navigationItem.titleView = titleView;
        [titleView release];
    }
    titleView.text = title;
    [titleView sizeToFit];
}

这段代码的优点，除了正确地处理帧，是如果你改变你的控制器的标题，自定义标题视图也会得到更新。无需手动更新。

另一个很大的优势是，它使得启用自定义标题颜色非常简单。您所需要做的就是将这个方法添加到控制器中。

又短又甜。

[[[self navigationController] navigationBar] setTitleTextAttributes:@{NSForegroundColorAttributeName: [UIColor redColor]}];

对于iOS 7的使用，上面的大多数建议现在都已弃用

NSDictionary *textAttributes = [NSDictionary dictionaryWithObjectsAndKeys: 
                               [UIColor whiteColor],NSForegroundColorAttributeName, 
                               [UIColor whiteColor],NSBackgroundColorAttributeName,nil];

self.navigationController.navigationBar.titleTextAttributes = textAttributes;
self.title = @"Title of the Page";

同样，签出NSAttributedString.h以获得可以设置的各种文本属性。