ola faça;
sudo gedit /etc/default/grub
veja o meu;
# If you change this file, run 'update-grub' afterwards to update
# /boot/grub/grub.cfg.
# For full documentation of the options in this file, see:
# info -f grub -n 'Simple configuration'
GRUB_DEFAULT=0
GRUB_TIMEOUT_STYLE=menu
GRUB_TIMEOUT=6
GRUB_DISTRIBUTOR=`lsb_release -i -s 2> /dev/null || echo Debian`
GRUB_CMDLINE_LINUX_DEFAULT="text"
GRUB_CMDLINE_LINUX=""
# Uncomment to enable BadRAM filtering, modify to suit your needs
# This works with Linux (no patch required) and with any kernel that obtains
# the memory map information from GRUB (GNU Mach, kernel of FreeBSD ...)
#GRUB_BADRAM="0x01234567,0xfefefefe,0x89abcdef,0xefefefef"
# Uncomment to disable graphical terminal (grub-pc only)
#GRUB_TERMINAL=console
# The resolution used on graphical terminal
# note that you can use only modes which your graphic card supports via VBE
# you can see them in real GRUB with the command `vbeinfo'
GRUB_GFXMODE=1920x1080
# Uncomment if you don't want GRUB to pass "root=UUID=xxx" parameter to Linux
#GRUB_DISABLE_LINUX_UUID=true
# Uncomment to disable generation of recovery mode menu entries
#GRUB_DISABLE_RECOVERY="true"
# Uncomment to get a beep at grub start
#GRUB_INIT_TUNE="480 440 1"
onde esta escrito grub timeout vc escolhe o tempo, no caso 6 segundos. Se o seu nao tem escrito e so adicionar e deixar igual.