I have also noticed this bug on an Ubuntu 12.04 server. The workaround I've 
come up with is:
* install the backported Quantal kernel (3.5.x) by installing the 
linux-generic-lts-quantal package
* add the following patch to /usr/share/initramfs-tools/scripts/mdadm-functions:
--- /tmp/a/mdadm-functions      2013-07-01 12:28:46.896519157 -0500
+++ /tmp/b/mdadm-functions      2013-07-01 12:28:55.136677837 -0500
@@ -3,6 +3,9 @@

 degraded_arrays()
 {
+       udevadm settle
+       echo "Waiting for RAID arrays to be ready..."
+       sleep 20
        mdadm --misc --scan --detail --test >/dev/null 2>&1
        return $((! $?))
 }

Note that just adding "udevadm settle" was not enough in my case - the
sleep was also required.

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https://bugs.launchpad.net/bugs/990913

Title:
  RAID goes into degrade mode on every boot 12.04 LTS server

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