What pages do you want to exclude the menu on? You can do this with a page ID or slug.
How are your WordPress Settings => Reading configured as this will alter how you would do it.
Example:
is_page( 42 );
// When Page 42 (ID) is being displayed.
is_page( 'Contact' );
// When the Page with a post_title of "Contact" is being displayed.
is_page( 'about-me' );
// When the Page with a post_name (slug) of "about-me" is being displayed.
Your Code:
function turn_off_menu() {
if ( !is_front_page() && !is_home() && !is_page('blog') ) { // Not default homepage or blog slug page
remove_action( 'genesis_after_header','genesis_do_nav' ) ;
}
}
add_action( 'init', 'turn_off_menu');
Ref: https://codex.wordpress.org/Function_Reference/is_page