Actually, I've always heard "ayudame", "ayuda" being the imperative form of the verb, "me" being the reflexive part that indicates who's speaking. I can't say I've ever heard "socorro", though it does also mean help. I'd consider "ayudame" more colloquial, but thats because I live so close to the Mexican border and hear Mexican Spanish a lot.
Also, in the episode Ultra Woman, one of the cries for help was "¡Ayudame <something indistinct, which was probably her name>, ayudame!"
That it was in the episode that way, of course, doesn't mean it's *the* correct way.
Sara (who's wondering where all our native Spanish speakers have got to

)