If you want the default colors of Android ICS, you just have to go to your Android SDK and look for this path: platforms\android-15\data\res\values\colors.xml.
Here you go:
<!-- For holo theme -->
<drawable name="screen_background_holo_light">#fff3f3f3</drawable>
<drawable name="screen_background_holo_dark">#ff000000</drawable>
<color name="background_holo_dark">#ff000000</color>
<color name="background_holo_light">#fff3f3f3</color>
<color name="bright_foreground_holo_dark">@android:color/background_holo_light</color>
<color name="bright_foreground_holo_light">@android:color/background_holo_dark</color>
<color name="bright_foreground_disabled_holo_dark">#ff4c4c4c</color>
<color name="bright_foreground_disabled_holo_light">#ffb2b2b2</color>
<color name="bright_foreground_inverse_holo_dark">@android:color/bright_foreground_holo_light</color>
<color name="bright_foreground_inverse_holo_light">@android:color/bright_foreground_holo_dark</color>
<color name="dim_foreground_holo_dark">#bebebe</color>
<color name="dim_foreground_disabled_holo_dark">#80bebebe</color>
<color name="dim_foreground_inverse_holo_dark">#323232</color>
<color name="dim_foreground_inverse_disabled_holo_dark">#80323232</color>
<color name="hint_foreground_holo_dark">#808080</color>
<color name="dim_foreground_holo_light">#323232</color>
<color name="dim_foreground_disabled_holo_light">#80323232</color>
<color name="dim_foreground_inverse_holo_light">#bebebe</color>
<color name="dim_foreground_inverse_disabled_holo_light">#80bebebe</color>
<color name="hint_foreground_holo_light">#808080</color>
<color name="highlighted_text_holo_dark">#6633b5e5</color>
<color name="highlighted_text_holo_light">#6633b5e5</color>
<color name="link_text_holo_dark">#5c5cff</color>
<color name="link_text_holo_light">#0000ee</color>
This for the Background:
<color name="background_holo_dark">#ff000000</color>
<color name="background_holo_light">#fff3f3f3</color>
You won’t get the same colors if you look this up in Photoshop etc. because they are set up with Alpha values.
Update for API Level 19:
<resources>
<drawable name="screen_background_light">#ffffffff</drawable>
<drawable name="screen_background_dark">#ff000000</drawable>
<drawable name="status_bar_closed_default_background">#ff000000</drawable>
<drawable name="status_bar_opened_default_background">#ff000000</drawable>
<drawable name="notification_item_background_color">#ff111111</drawable>
<drawable name="notification_item_background_color_pressed">#ff454545</drawable>
<drawable name="search_bar_default_color">#ff000000</drawable>
<drawable name="safe_mode_background">#60000000</drawable>
<!-- Background drawable that can be used for a transparent activity to
be able to display a dark UI: this darkens its background to make
a dark (default theme) UI more visible. -->
<drawable name="screen_background_dark_transparent">#80000000</drawable>
<!-- Background drawable that can be used for a transparent activity to
be able to display a light UI: this lightens its background to make
a light UI more visible. -->
<drawable name="screen_background_light_transparent">#80ffffff</drawable>
<color name="safe_mode_text">#80ffffff</color>
<color name="white">#ffffffff</color>
<color name="black">#ff000000</color>
<color name="transparent">#00000000</color>
<color name="background_dark">#ff000000</color>
<color name="background_light">#ffffffff</color>
<color name="bright_foreground_dark">@android:color/background_light</color>
<color name="bright_foreground_light">@android:color/background_dark</color>
<color name="bright_foreground_dark_disabled">#80ffffff</color>
<color name="bright_foreground_light_disabled">#80000000</color>
<color name="bright_foreground_dark_inverse">@android:color/bright_foreground_light</color>
<color name="bright_foreground_light_inverse">@android:color/bright_foreground_dark</color>
<color name="dim_foreground_dark">#bebebe</color>
<color name="dim_foreground_dark_disabled">#80bebebe</color>
<color name="dim_foreground_dark_inverse">#323232</color>
<color name="dim_foreground_dark_inverse_disabled">#80323232</color>
<color name="hint_foreground_dark">#808080</color>
<color name="dim_foreground_light">#323232</color>
<color name="dim_foreground_light_disabled">#80323232</color>
<color name="dim_foreground_light_inverse">#bebebe</color>
<color name="dim_foreground_light_inverse_disabled">#80bebebe</color>
<color name="hint_foreground_light">#808080</color>
<color name="highlighted_text_dark">#9983CC39</color>
<color name="highlighted_text_light">#9983CC39</color>
<color name="link_text_dark">#5c5cff</color>
<color name="link_text_light">#0000ee</color>
<color name="suggestion_highlight_text">#177bbd</color>
<drawable name="stat_notify_sync_noanim">@drawable/stat_notify_sync_anim0</drawable>
<drawable name="stat_sys_download_done">@drawable/stat_sys_download_done_static</drawable>
<drawable name="stat_sys_upload_done">@drawable/stat_sys_upload_anim0</drawable>
<drawable name="dialog_frame">@drawable/panel_background</drawable>
<drawable name="alert_dark_frame">@drawable/popup_full_dark</drawable>
<drawable name="alert_light_frame">@drawable/popup_full_bright</drawable>
<drawable name="menu_frame">@drawable/menu_background</drawable>
<drawable name="menu_full_frame">@drawable/menu_background_fill_parent_width</drawable>
<drawable name="editbox_dropdown_dark_frame">@drawable/editbox_dropdown_background_dark</drawable>
<drawable name="editbox_dropdown_light_frame">@drawable/editbox_dropdown_background</drawable>
<drawable name="dialog_holo_dark_frame">@drawable/dialog_full_holo_dark</drawable>
<drawable name="dialog_holo_light_frame">@drawable/dialog_full_holo_light</drawable>
<drawable name="input_method_fullscreen_background">#fff9f9f9</drawable>
<drawable name="input_method_fullscreen_background_holo">@drawable/screen_background_holo_dark</drawable>
<color name="input_method_navigation_guard">#ff000000</color>
<!-- For date picker widget -->
<drawable name="selected_day_background">#ff0092f4</drawable>
<!-- For settings framework -->
<color name="lighter_gray">#ddd</color>
<color name="darker_gray">#aaa</color>
<!-- For security permissions -->
<color name="perms_dangerous_grp_color">#33b5e5</color>
<color name="perms_dangerous_perm_color">#33b5e5</color>
<color name="shadow">#cc222222</color>
<color name="perms_costs_money">#ffffbb33</color>
<!-- For search-related UIs -->
<color name="search_url_text_normal">#7fa87f</color>
<color name="search_url_text_selected">@android:color/black</color>
<color name="search_url_text_pressed">@android:color/black</color>
<color name="search_widget_corpus_item_background">@android:color/lighter_gray</color>
<!-- SlidingTab -->
<color name="sliding_tab_text_color_active">@android:color/black</color>
<color name="sliding_tab_text_color_shadow">@android:color/black</color>
<!-- keyguard tab -->
<color name="keyguard_text_color_normal">#ffffff</color>
<color name="keyguard_text_color_unlock">#a7d84c</color>
<color name="keyguard_text_color_soundoff">#ffffff</color>
<color name="keyguard_text_color_soundon">#e69310</color>
<color name="keyguard_text_color_decline">#fe0a5a</color>
<!-- keyguard clock -->
<color name="lockscreen_clock_background">#ffffffff</color>
<color name="lockscreen_clock_foreground">#ffffffff</color>
<color name="lockscreen_clock_am_pm">#ffffffff</color>
<color name="lockscreen_owner_info">#ff9a9a9a</color>
<!-- keyguard overscroll widget pager -->
<color name="kg_multi_user_text_active">#ffffffff</color>
<color name="kg_multi_user_text_inactive">#ff808080</color>
<color name="kg_widget_pager_gradient">#ffffffff</color>
<!-- FaceLock -->
<color name="facelock_spotlight_mask">#CC000000</color>
<!-- For holo theme -->
<drawable name="screen_background_holo_light">#fff3f3f3</drawable>
<drawable name="screen_background_holo_dark">#ff000000</drawable>
<color name="background_holo_dark">#ff000000</color>
<color name="background_holo_light">#fff3f3f3</color>
<color name="bright_foreground_holo_dark">@android:color/background_holo_light</color>
<color name="bright_foreground_holo_light">@android:color/background_holo_dark</color>
<color name="bright_foreground_disabled_holo_dark">#ff4c4c4c</color>
<color name="bright_foreground_disabled_holo_light">#ffb2b2b2</color>
<color name="bright_foreground_inverse_holo_dark">@android:color/bright_foreground_holo_light</color>
<color name="bright_foreground_inverse_holo_light">@android:color/bright_foreground_holo_dark</color>
<color name="dim_foreground_holo_dark">#bebebe</color>
<color name="dim_foreground_disabled_holo_dark">#80bebebe</color>
<color name="dim_foreground_inverse_holo_dark">#323232</color>
<color name="dim_foreground_inverse_disabled_holo_dark">#80323232</color>
<color name="hint_foreground_holo_dark">#808080</color>
<color name="dim_foreground_holo_light">#323232</color>
<color name="dim_foreground_disabled_holo_light">#80323232</color>
<color name="dim_foreground_inverse_holo_light">#bebebe</color>
<color name="dim_foreground_inverse_disabled_holo_light">#80bebebe</color>
<color name="hint_foreground_holo_light">#808080</color>
<color name="highlighted_text_holo_dark">#6633b5e5</color>
<color name="highlighted_text_holo_light">#6633b5e5</color>
<color name="link_text_holo_dark">#5c5cff</color>
<color name="link_text_holo_light">#0000ee</color>
<!-- Group buttons -->
<eat-comment />
<color name="group_button_dialog_pressed_holo_dark">#46c5c1ff</color>
<color name="group_button_dialog_focused_holo_dark">#2699cc00</color>
<color name="group_button_dialog_pressed_holo_light">#ffffffff</color>
<color name="group_button_dialog_focused_holo_light">#4699cc00</color>
<!-- Highlight colors for the legacy themes -->
<eat-comment />
<color name="legacy_pressed_highlight">#fffeaa0c</color>
<color name="legacy_selected_highlight">#fff17a0a</color>
<color name="legacy_long_pressed_highlight">#ffffffff</color>
<!-- General purpose colors for Holo-themed elements -->
<eat-comment />
<!-- A light Holo shade of blue -->
<color name="holo_blue_light">#ff33b5e5</color>
<!-- A light Holo shade of gray -->
<color name="holo_gray_light">#33999999</color>
<!-- A light Holo shade of green -->
<color name="holo_green_light">#ff99cc00</color>
<!-- A light Holo shade of red -->
<color name="holo_red_light">#ffff4444</color>
<!-- A dark Holo shade of blue -->
<color name="holo_blue_dark">#ff0099cc</color>
<!-- A dark Holo shade of green -->
<color name="holo_green_dark">#ff669900</color>
<!-- A dark Holo shade of red -->
<color name="holo_red_dark">#ffcc0000</color>
<!-- A Holo shade of purple -->
<color name="holo_purple">#ffaa66cc</color>
<!-- A light Holo shade of orange -->
<color name="holo_orange_light">#ffffbb33</color>
<!-- A dark Holo shade of orange -->
<color name="holo_orange_dark">#ffff8800</color>
<!-- A really bright Holo shade of blue -->
<color name="holo_blue_bright">#ff00ddff</color>
<!-- A really bright Holo shade of gray -->
<color name="holo_gray_bright">#33CCCCCC</color>
<drawable name="notification_template_icon_bg">#3333B5E5</drawable>
<drawable name="notification_template_icon_low_bg">#0cffffff</drawable>
<!-- Keyguard colors -->
<color name="keyguard_avatar_frame_color">#ffffffff</color>
<color name="keyguard_avatar_frame_shadow_color">#80000000</color>
<color name="keyguard_avatar_nick_color">#ffffffff</color>
<color name="keyguard_avatar_frame_pressed_color">#ff35b5e5</color>
<color name="accessibility_focus_highlight">#80ffff00</color>
</resources>