I haven’t gotten to the bottom of it yet (at first glance it seems like an iOS 7 bug..), but I have found a workaround. In tableView:didSelectRowAtIndexPath, if you send both messages below, the issue is visually resolved (with the probable performance cost).
[tableView deselectRowAtIndexPath:indexPath animated:YES];
[tableView reloadRowsAtIndexPaths:@[indexPath] withRowAnimation:UITableViewRowAnimationAutomatic];
For this to work (for me), deselectRowAtIndexPath:animated: must contain animated:YES. The animation used for reloadRowsAtIndexPaths:withRowAnimation: doesn’t matter.