If you create new project and choose NavigationDrawerActivity. You can change icon drawer on NavigationDrawerFragment.class at line R.drawable.ic_drawer,
public void setUp(int fragmentId, DrawerLayout drawerLayout) {
mFragmentContainerView = getActivity().findViewById(fragmentId);
mDrawerLayout = drawerLayout;
// set a custom shadow that overlays the main content when the drawer opens
mDrawerLayout.setDrawerShadow(R.drawable.drawer_shadow, GravityCompat.START);
// set up the drawer's list view with items and click listener
ActionBar actionBar = getActionBar();
actionBar.setDisplayHomeAsUpEnabled(true);
actionBar.setHomeButtonEnabled(true);
// ActionBarDrawerToggle ties together the the proper interactions
// between the navigation drawer and the action bar app icon.
mDrawerToggle = new ActionBarDrawerToggle(
getActivity(), /* host Activity */
mDrawerLayout, /* DrawerLayout object */
R.drawable.ic_drawer, /* nav drawer image to replace 'Up' caret */
R.string.navigation_drawer_open, /* "open drawer" description for accessibility */
R.string.navigation_drawer_close /* "close drawer" description for accessibility */