Changing Navigation drawer hamburger icon

The following code works nicely for me,

protected void onCreate(Bundle savedInstanceState) {
    ...
    getSupportActionBar().setDisplayHomeAsUpEnabled(true);
    getSupportActionBar().setDefaultDisplayHomeAsUpEnabled(false);
    toggle.setDrawerIndicatorEnabled(false);
    toggle.setHomeAsUpIndicator(R.drawable.ic_custom_drawer_icon);
    ...
}

I also had to add a toolbar navigation click listener to listen for click events on the custom drawer icon

protected void onCreate(Bundle savedInstanceState) {
    ...
    toggle.setToolbarNavigationClickListener(new View.OnClickListener() {
        @Override
        public void onClick(View view) {
            DrawerLayout drawer = (DrawerLayout) findViewById(R.id.drawer_layout);
            if (drawer.isDrawerOpen(GravityCompat.START)) {
                drawer.closeDrawer(GravityCompat.START);
            } else {
                drawer.openDrawer(GravityCompat.START);
            }
        }
    });
    ...
}

Finally, I can update the icon dynamically as

toggle.setHomeAsUpIndicator(R.drawable.ic_new_icon);

Here's what works for me:

override fun onCreate(savedInstanceState: Bundle?) {
    super.onCreate(savedInstanceState)
    setContentView(R.layout.activity_main)
    setSupportActionBar(toolbar)

    val toggle = ActionBarDrawerToggle(
            this, drawer_layout, toolbar, R.string.navigation_drawer_open, R.string.navigation_drawer_close)
    //toggle.isDrawerSlideAnimationEnabled = false
    toggle.isDrawerIndicatorEnabled = false
    toggle.setToolbarNavigationClickListener {
        if (drawer_layout.isDrawerOpen(GravityCompat.START))
            drawer_layout.closeDrawer(GravityCompat.START)
        else
            drawer_layout.openDrawer(GravityCompat.START)
    }
    toggle.setHomeAsUpIndicator(AppCompatResources.getDrawable(this, R.drawable.ic_android_black_24dp))
    drawer_layout.addDrawerListener(toggle)
    toggle.syncState()
    nav_view.setNavigationItemSelectedListener(this)
}

override fun onBackPressed() {
    if (drawer_layout.isDrawerOpen(GravityCompat.START)) {
        drawer_layout.closeDrawer(GravityCompat.START)
    } else {
        super.onBackPressed()
    }
}

override fun onNavigationItemSelected(item: MenuItem): Boolean {
    when (item.itemId) {
        ...
    }
    drawer_layout.closeDrawer(GravityCompat.START)
    return true
}

Just use this :

toolbar.post(new Runnable() {
            @Override
            public void run() {
                Drawable d = ResourcesCompat.getDrawable(getResources(), R.mipmap.ic_launcher, null);
                toolbar.setNavigationIcon(d);
            }
        });

You dont need to handle setToolbarNavigationClickListener which is in accepted answer.