There is now a beta available of Google Maps KML Importing Utility.
It is part of the Google Maps Android API Utility Library. As documented it allows loading KML files from streams
KmlLayer layer = new KmlLayer(getMap(), kmlInputStream, getApplicationContext());
or local resources
KmlLayer layer = new KmlLayer(getMap(), R.raw.kmlFile, getApplicationContext());
After you have created a KmlLayer, call addLayerToMap() to add the imported data onto the map.
layer.addLayerToMap();