I'm seeing the same thing, intermittently.

Freshly set up system,

uname -a returns "Linux pcserver2 2.6.20-16-generic #2 SMP Thu Jun 7
20:19:32 UTC 2007 i686 GNU/Linux"

mdadm --version returns "mdadm - v2.5.6 - 9 November 2006"

With the splash screen turned off, each and every time the system boots
I see "mdadm: no devices  listed in conf file were found".  A couple
lines later I will see "trying to resume from /dev/sda3" (which is swap
on my system, and not mirrored).  At this point it will either boot or
fail.

I basically did an expert install from the alternate cd, and let the
installer set up RAID 1, with /, /home and /var on separate partitions,
mirrored.

fstab is:
 # /etc/fstab: static file system information.
#
# <file system> <mount point>   <type>  <options>       <dump>  <pass>
proc            /proc           proc    defaults        0       0
# /dev/md0
UUID=97be724f-68a6-4d58-a65b-27323cc80c39 /               ext3    
defaults,errors=remount-ro 0       1
# /dev/md2
UUID=84027007-13ea-48b0-9815-2a1d8632de30 /home           ext3    defaults      
  0       2
# /dev/md1
UUID=d0bf6dc7-5309-4155-a8f7-19210b5d5831 /var            ext3    defaults      
  0       2
# /dev/sda3
UUID=e9a1b493-440f-4c83-8642-c06f2ce562d8 none            swap    sw            
  0       0
# /dev/sdb3
UUID=02a63f99-9514-42a8-93e2-8c75cf234a82 none            swap    sw            
  0       0
/dev/scd0       /media/cdrom0   udf,iso9660 user,noauto     0       0
/dev/fd0        /media/floppy0  auto    rw,user,noauto  0       0


mdadm.conf is
# mdadm.conf
#
# Please refer to mdadm.conf(5) for information about this file.
#

# by default, scan all partitions (/proc/partitions) for MD superblocks.
# alternatively, specify devices to scan, using wildcards if desired.
DEVICE partitions

# auto-create devices with Debian standard permissions
CREATE owner=root group=disk mode=0660 auto=yes

# automatically tag new arrays as belonging to the local system
HOMEHOST <system>

# instruct the monitoring daemon where to send mail alerts
MAILADDR root

# definitions of existing MD arrays
ARRAY /dev/md0 level=raid1 num-devices=2 
UUID=06a965d4:15aea309:2aa916b5:4fcc1448
ARRAY /dev/md1 level=raid1 num-devices=2 
UUID=de6bc0e6:2499b63f:bd517c7d:60c4d64a
ARRAY /dev/md2 level=raid1 num-devices=2 
UUID=ba8e6066:60110e41:1551e85f:dd92c280

# This file was auto-generated on Sun, 24 Jun 2007 22:23:56 +0000
# by mkconf $Id: mkconf 261 2006-11-09 13:32:35Z madduck $


The grub menu.lst entry is:
title           Ubuntu, kernel 2.6.20-16-generic
root            (hd0,0)
kernel          /boot/vmlinuz-2.6.20-16-generic root=/dev/md0 ro quiet 
initrd          /boot/initrd.img-2.6.20-16-generic
quiet
savedefault

Do I need to maybe be setting up an unmirrored /boot partition?

-- 
mdadm : boot failed sometimes, no devices found
https://bugs.launchpad.net/bugs/120504
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