http://qiita.com/kazy/items/0ded30d80cef9df54c98

MainActivity.java

@RuntimePermissions
public class MainActivity extends AppCompatActivity {

    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);
        Button button = (Button) findViewById(R.id.button);
        button.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                MainActivityPermissionsDispatcher.makePhoneCallToSampleNumberWithCheck(MainActivity.this);
            }
        });
    }

    @NeedsPermission(Manifest.permission.CALL_PHONE)
    public void makePhoneCallToSampleNumber() {
        Intent intent = new Intent(Intent.ACTION_CALL, Uri.parse("tel:0123456789"));
        startActivity(intent);
    }

    @SuppressWarnings("unused")
    @OnPermissionDenied(Manifest.permission.CALL_PHONE)
    void deniedPermission() {
        if (PermissionUtils.shouldShowRequestPermissionRationale(this, Manifest.permission.CALL_PHONE)) {
            Toast.makeText(this, "電話をかけるのに失敗しました。", Toast.LENGTH_SHORT).show();
        } else {
            new MaterialDialog.Builder(this)
                    .theme(Theme.LIGHT)
                    .title("電話をかけることが出来ません")
                    .content("電話をかけるためには、設定画面からご自身で権限を許可して頂く必要があります。")
                    .positiveText("設定画面へ")
                    .negativeText("今はしない")
                    .onPositive(new MaterialDialog.SingleButtonCallback() {
                        @Override
                        public void onClick(MaterialDialog dialog, DialogAction action) {
                            Intent intent = new Intent(Settings.ACTION_APPLICATION_DETAILS_SETTINGS);
                            Uri uri = Uri.fromParts("package", getPackageName(), null);
                            intent.setData(uri);
                            startActivity(intent);
                        }
                    })
                    .show();
        }
    }

    @SuppressWarnings("unused")
    @OnShowRationale(Manifest.permission.CALL_PHONE)
    void showRationalForStorage(final PermissionRequest request) {
        new MaterialDialog.Builder(this)
                .theme(Theme.LIGHT)
                .title("電話をかけるには許可が必要です")
                .content("通話の発信/管理には、ユーザーの方に権限の許可をいただく必要があります。")
                .positiveText("許可する")
                .negativeText("今はしない")
                .onPositive(new MaterialDialog.SingleButtonCallback() {
                    @Override
                    public void onClick(MaterialDialog dialog, DialogAction action) {
                        request.proceed();
                    }
                })
                .show();
    }

    @Override
    public void onRequestPermissionsResult(int requestCode, String[] permissions, int[] grantResults) {
        MainActivityPermissionsDispatcher.onRequestPermissionsResult(this, requestCode, grantResults);
    }
}