In my eyes this is only possible if you change the drawables of the home button, the menu icons and the overflow button. Fortunately Google has give us a new API called Tinted Drawables which allows us to set the collor of a drawable or nine-patch image. Here is how it works:
<?xml version="1.0" encoding="utf-8"?>
<bitmap
xmlns:android="http://schemas.android.com/apk/res/android"
android:src="@android:drawable/ic_menu_camera"
android:tint="@color/menu_icon_color"/>
Now you can use this new defined Drawable
like any other in your layout. For the home button and the overflow button you also have to override the style definitions like so:
<style name="AppTheme" parent="Theme.AppCompat.Light.DarkActionBar">
<item name="android:homeAsUpIndicator">@drawable/tinted_home_button</item>
<item name="android:actionOverflowButtonStyle">@style/OverFlowButton</item>
</style>
<style name="OverFlowButton" parent="AppTheme">
<item name="android:src">@drawable/tinted_overflow_button</item>
</style>
All these stuff (except the style definitions) is unfortunately only available on API level 21+ and is not included into the support library. If you have to support devices lower then Lollipop I think the best way is to use the Android Assets Studio where you can tint the icons by yourself and download them as a png file.