It's possible that the Boot Repair utility will fix this problem; however, it's important that you boot this tool in EFI mode. (Running it from a live CD is fine.) Booting it in BIOS/CSM/legacy mode is likely to either not work or create a very hackish fix that might create more problems than it solves. To ensure that you've booted in EFI mode, open a Terminal window and look for the directory called /sys/firmware/efi
. If it's present, you've booted in EFI mode; if it's absent, you either haven't booted in this way or you're using a distribution that's configured strangely.
FWIW, recent versions of Ubuntu do support Secure Boot, at least well enough to get GRUB booting with Secure Boot active. I can't be positive, but my suspicion is that you actually installed Ubuntu in BIOS/CSM/legacy mode and were switching between that mode and EFI/UEFI mode. If the Boot Repair fix I've suggested works, then you should end up booting both OSes in EFI/UEFI mode, with GRUB to switch between them.
Another option is to disable Secure Boot but ensure that your firmware is booting in EFI/UEFI mode. (How to do this depends on your firmware's user interface, so I can't provide specific instructions.) If an EFI-mode version of GRUB is installed, you should then be able to select it from a boot menu and run it; or you can install another boot loader or boot manager. Installing my rEFInd from Windows, along with an EFI filesystem driver for whatever filesystem holds your Linux kernel, should work pretty well. Using this option with Secure Boot enabled is also possible, but requires extra configuration.