The new default Navigation Drawer Activity template in Android Studio
defines its titles and icons in a menu file activity_main_drawer like thi
Based on @ojonugwa ochalifu and @MD's comment,
You can achieve by writing app:itemIconTint but if you write this, the navigation drawers icon color will also be changed. The simple and easy solution that I found after lots of R&D is that you have define in theme of AppBarLayout or if you using Toolbar only without AppBarLayout, you can also write in theme or popupTheme of Toolbar in your xml.
This will also change the color of activity's back arrow as well.
Hope this helps you all who are facing this type of issue.