I used below layout and able to achieve custom layout in Navigation View.
<android.support.design.widget.NavigationView
android:id="@+id/navi_view"
android:layout_width="wrap_content"
android:layout_height="match_parent"
android:layout_gravity="start|top"
android:background="@color/navigation_view_bg_color"
app:theme="@style/NavDrawerTextStyle">
<LinearLayout
android:layout_width="match_parent"
android:layout_height="match_parent"
android:orientation="vertical">
<include layout="@layout/drawer_header" />
<include layout="@layout/navigation_drawer_menu" />
</LinearLayout>
</android.support.design.widget.NavigationView>