I found a workaround that doesn't require to disable secure boot:
Get the latest memtest (or at least above 6.10)
Use these instructions to create a machine owner key (remove the .2 at the end 
of the extendedKeyUsage line in the config file) and enroll it (you don't need 
to reboot twice to Ubuntu, reboot once you're done):
https://ubuntu.com/blog/how-to-sign-things-for-secure-boot
Copy or move the original efi file (or overwrite it, it's your computer)
sign the efi of the memtest efi file you got using sbsign according to the 
above page,
replace the current efi file in /boot with the signed one.
reboot and enroll the key you made in the shim
choose memtest in the grub menu.

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https://bugs.launchpad.net/bugs/2043907

Title:
  Memtest gives "bad shim signature" error

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