activity_my.xml

<android.support.v4.widget.DrawerLayout xmlns:android="http://schemas.android.com/apk/res/android"
                                        android:id="@+id/drawer_layout"
                                        android:layout_width="match_parent"
                                        android:layout_height="match_parent">

    <FrameLayout
        android:layout_width="match_parent"
        android:layout_height="match_parent">
    </FrameLayout>

    <LinearLayout
        android:id="@+id/drawer_list"
        android:orientation="horizontal"
        android:layout_gravity="start"
        android:layout_width="240dp"
        android:layout_height="match_parent"
        android:background="@android:color/white">
    </LinearLayout>

</android.support.v4.widget.DrawerLayout>

my.xml

<menu xmlns:android="http://schemas.android.com/apk/res/android"
      xmlns:tools="http://schemas.android.com/tools"
      xmlns:app="http://schemas.android.com/apk/res-auto"
      tools:context=".MyActivity">

    <item
        android:id="@+id/action_search"
        android:title="Search"
        android:icon="@android:drawable/ic_menu_search"
        app:actionViewClass="android.support.v7.widget.SearchView"
        app:showAsAction="ifRoom"
        tools:ignore="HardcodedText,UnusedAttribute"/>

    <item
        android:id="@+id/action_settings"
        android:title="@string/action_settings"
        android:orderInCategory="100"
        app:showAsAction="never"/>

</menu>

MyActivity.java

import android.content.res.Configuration;
import android.os.Bundle;
import android.support.v4.view.MenuItemCompat;
import android.support.v4.widget.DrawerLayout;
import android.support.v7.app.ActionBarActivity;
import android.support.v7.app.ActionBarDrawerToggle;
import android.support.v7.widget.SearchView;
import android.util.Log;
import android.view.Menu;
import android.view.MenuItem;
import android.view.View;

public class MyActivity extends ActionBarActivity implements SearchView.OnQueryTextListener {
    final private static String TAG = MyActivity.class.getSimpleName();
    private ActionBarDrawerToggle mDrawerToggle;
    private DrawerLayout mDrawerLayout;

    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_my);

        mDrawerLayout = (DrawerLayout) findViewById(R.id.drawer_layout);
        mDrawerToggle = new ActionBarDrawerToggle(this, mDrawerLayout, R.string.app_name, R.string.app_name) {
            @Override
            public void onDrawerOpened(View drawerView) {
                super.onDrawerOpened(drawerView);
                invalidateOptionsMenu();
            }

            @Override
            public void onDrawerClosed(View drawerView) {
                super.onDrawerClosed(drawerView);
                invalidateOptionsMenu();
            }
        };
        mDrawerToggle.setDrawerIndicatorEnabled(true);
        mDrawerLayout.setDrawerListener(mDrawerToggle);

        getSupportActionBar().setDisplayHomeAsUpEnabled(true);
        getSupportActionBar().setDisplayShowHomeEnabled(true);
    }

    @Override
    public boolean onPrepareOptionsMenu(Menu menu) {
        final View view = findViewById(R.id.drawer_list);
        final boolean isOpened = mDrawerLayout.isDrawerOpen(view);
        final MenuItem search = menu.findItem(R.id.action_search);
        final MenuItem options = menu.findItem(R.id.action_settings);
        search.setVisible(!isOpened);
        options.setVisible(!isOpened);

        return super.onPrepareOptionsMenu(menu);
    }

    @Override
    public boolean onCreateOptionsMenu(Menu menu) {
        getMenuInflater().inflate(R.menu.my, menu);

        // SearchView
        MenuItem menuItem = menu.findItem(R.id.action_search);
        final SearchView searchView = (SearchView) MenuItemCompat.getActionView(menuItem);
        if (searchView != null) {
            searchView.setOnQueryTextListener(this);
        }

        return super.onCreateOptionsMenu(menu);
    }

    @Override
    public boolean onOptionsItemSelected(MenuItem item) {
        return mDrawerToggle.onOptionsItemSelected(item) || super.onOptionsItemSelected(item);
    }

    @Override
    protected void onPostCreate(Bundle savedInstanceState) {
        super.onPostCreate(savedInstanceState);
        mDrawerToggle.syncState();
    }

    @Override
    public void onConfigurationChanged(Configuration newConfig) {
        super.onConfigurationChanged(newConfig);
        mDrawerToggle.onConfigurationChanged(newConfig);
    }

    @Override
    public boolean onQueryTextSubmit(String text) {
        Log.d(TAG, text);
        return false;
    }

    @Override
    public boolean onQueryTextChange(String text) {
        Log.d(TAG, text);
        return false;
    }
}