If you are using the Support Library provided DrawerLayout as suggested in the Creating a navigation drawer training, you can use the newly added android.support.v7.app.ActionBarDrawerToggle (note: different from the now deprecated android.support.v4.app.ActionBarDrawerToggle):
shows a Hamburger icon when drawer is closed and an arrow when drawer is open. It animates between these two states as the drawer opens.
While the training hasn't been updated to take the deprecation/new class into account, you should be able to use it almost exactly the same code - the only difference in implementing it is the constructor.