Let $(X,ω)$ be a compact Kähler manifold, $(L,h^L)$ be a positive line bundle, and $(E,h^E)$ be a Hermitian holomorphic vector bundle of rank $r$ on $X$. We prove that the pullback by the Kodaira embedding associated to $L^p\otimes E$ of the $k$-th Chern class of the dual of the universal bundle over the Grassmannian converges as $p\to\infty$ to the $k$-th power of the Chern form $c_1(L,h^L)$, for $0\leq k\leq r$. If $c_1(L,h^L)=ω$ we also determine the second term in the semiclassical expansion, which involves $c_1(E,h^E)$. As a consequence we show that the limit distribution of zeros of random sequences of holomorphic sections of high powers $L^p\otimes E$ is $c_1(L,h^L)^r$. Furthermore, we compute the expectation of the currents of integration along degeneracy sets of random holomorphic sections.