You can use a tool for creating generic icons in Asset Studio: https://romannurik.github.io/AndroidAssetStudio/icons-generic.html. To get it look like ActionBar Icon, you should make next actions:

1. Choose image
2. The size of image should stay at 24dip
3. Change padding to 4dip
4. Move foreground color thumb to 0%
5. That's it! Download .zip now.

The sizes of icons will be pretty the same as you can get them with ActionBar Icon Generator.

How it looks for me: