Just add the folowing to your ListView:
android:listSelector="#FF0000"
So it will look like the following:
<ListView
android:id="@+id/left_drawer"
android:layout_width="240dp"
android:layout_height="match_parent"
android:layout_gravity="start"
android:choiceMode="singleChoice"
android:divider="@android:color/transparent"
android:dividerHeight="0dp"
android:listSelector="#FF0000"
android:background="@android:color/white" />