I have already created one project and gradle sync worked successfully.
When I try to create another project it fails and gives the error message that
This was the solution that worked for me. Posting here in case it helps someone.
Gradle version was not correct in project build.gradle file.
I had
classpath 'com.android.tools.build:gradle:1.0.0'
but this needed to be
classpath 'com.android.tools.build:gradle:2.1.0'
Note:
This should be updated to the newest version of gradle tools which can be found here
Android Studio also recommends the latest plugin version.