Changing Menu Icons and the Drawer layout Icon depending the Theme

First generate the attrs.xml in values folder:

<resources>
    <declare-styleable name="customAttrs">
        <attr name="customUserInfoIcon" format="reference" />
        <attr name="customDrawerLayoutIcon" format="reference" />
        <attr name="customInfoDetailsIcon" format="reference" />
    </declare-styleable>
</resources>

Second generate your diferent styles:

    <style name="REDAppTheme" parent="AppTheme">
        <item name="android:actionBarStyle">@style/REDActionBar</item>
        <item name="customUserInfoIcon">@drawable/ic_action_userinfo_black</item>
        <item name="customDrawerLayoutIcon">@drawable/ic_drawer_black</item>
        <item name="customInfoDetailsIcon">@drawable/ic_action_info_details_black</item>
    </style>

    <style name="REDActionBar" parent="@android:style/Widget.Holo.Light.ActionBar">
        <item name="android:background">@color/vbz_red</item>
        <item name="android:titleTextStyle">@style/RED.ActionBar.TitleTextStyle</item>
        <item name="android:icon">@drawable/icon_red</item>
    </style>

    <style name="RED.ActionBar.TitleTextStyle" parent="@android:style/TextAppearance.Holo.Widget.ActionBar.Title">
        <item name="android:textColor">@color/black</item>
    </style>

    <style name="BLUEAppTheme" parent="AppTheme">
        <item name="android:actionBarStyle">@style/BLUEActionBar</item>
        <item name="customUserInfoIcon">@drawable/ic_action_userinfo_white</item>
        <item name="customDrawerLayoutIcon">@drawable/ic_drawer_white</item>
        <item name="customInfoDetailsIcon">@drawable/ic_action_info_details_white</item>
    </style>

    <style name="BLUEActionBar" parent="@android:style/Widget.Holo.Light.ActionBar">
        <item name="android:background">@color/vbz_blue</item>
        <item name="android:titleTextStyle">@style/BLUE.ActionBar.TitleTextStyle</item>
        <item name="android:icon">@drawable/icon</item>
    </style>

    <style name="BLUE.ActionBar.TitleTextStyle" parent="@android:style/TextAppearance.Holo.Widget.ActionBar.Title">
        <item name="android:textColor">@color/white</item>
    </style>

Then you can use the different icons in your menu depending of the style you have chosen:

<menu xmlns:android="http://schemas.android.com/apk/res/android" >

    <item
        android:id="@+id/userinfo"
        android:orderInCategory="100"
        android:showAsAction="always"
        android:title="@string/userinfo"
        android:icon="?attr/customUserInfoIcon"/>

     <item
        android:id="@+id/info"
        android:orderInCategory="100"
        android:showAsAction="always"
        android:title="@string/info"
        android:icon="?attr/customInfoDetailsIcon"/>

</menu>

And for the drawer layout you have to get the referenced Id and put it in the ActionBarDrawerToggle constructor:

    TypedArray a = getTheme().obtainStyledAttributes(R.style.AppTheme, new int[] {R.attr.customDrawerLayoutIcon});     
    int attributeResourceId = a.getResourceId(0, 0);

    // ActionBarDrawerToggle ties together the the proper interactions
    // between the sliding drawer and the action bar app icon
    drawerToggle = new ActionBarDrawerToggle(this, /* host Activity */
    drawerLayout, /* DrawerLayout object */
    attributeResourceId, /* nav drawer image to replace 'Up' caret */
    R.string.drawer_open, /* "open drawer" description for accessibility */
    R.string.drawer_close /* "close drawer" description for accessibility */
    ) {
        public void onDrawerClosed(View view) {
            getActionBar().setTitle(mTitle);
            invalidateOptionsMenu(); // creates call to
                                        // onPrepareOptionsMenu()
        }

        public void onDrawerOpened(View drawerView) {
            getActionBar().setTitle(mDrawerTitle);
            invalidateOptionsMenu(); // creates call to
                                        // onPrepareOptionsMenu()
        }
    };