For me, the error was that I had:
<android:support.v7.widget.Toolbar
android:id="@+id/toolbar"
android:layout_width="match_parent"
android:layout_height="?attr/actionBarSize"/>
instead of:
<android.support.v7.widget.Toolbar
android:id="@+id/toolbar"
android:layout_width="match_parent"
android:layout_height="?attr/actionBarSize"/>
Specifically, I had a colon between "android" and "support" on the first line instead of a period.