I think reading it five times a day as Fr. Anastasios suggested and eventually try saying it without looking at the text unless you really have to. Its easy to memorize and it will come natural in time. It will also help to study the Creed and make sure you understand what it really means and then that will also help with memorization and plus, you will be saying it with understanding and not just saying the words.
Wow, to truly understand the Creed...that's quite an undertaking. I still don't feel like I fully understand what it means for Christ to be "God of true God" or for the Holy Spirit to "proceed from the Father," or for that matter, what it means to be part of the "One Holy Catholic and Apostolic Church." But I know what you're saying, that the Creed should not be empty words. They are far from empty; in fact, one could spend a lifetime studying the Creed and still not fully know what it says.
As far as memorization goes, there's nothing like repetition. For me, I repeat it until I can say the passage I am trying to memorize backwards. So, for the Creed,
And the life of the world to come.
I acknowledge One Baptism for the remission of sins,
I believe in the One Holy Catholic and Apostolic Church," etc.