This worked for me: Replace the com.android.support:design version in build.gradle with one that works. Find which version works by creating a new project from scratch in Android Studio and using the version from that.
I had this problem when I added a Navigation Drawer Activity from the File->New->Activity menu to an older project with Android Studio.
Android Studio added a dependency like so:
compile 'com.android.support:design:24.0.0-alpha1'
(I'm not sure of the exact version but it had '24' and 'alpha').
I then created a new dummy project, specifying a Navigation Drawer Activity in the new project wizard. I noticed that the new project had a different dependency: compile 'com.android.support:design:23.2.1'
So I took this dependency and put it in the first project, and the problem was solved.
