I guess Sliding Menu suits your purpose.
Sample code :
SlidingMenu menu = new SlidingMenu(this);
menu.setMode(SlidingMenu.LEFT);
menu.setTouchModeAbove(SlidingMenu.TOUCHMODE_FULLSCREEN);
menu.setShadowWidthRes(R.dimen.shadow_width);
menu.setShadowDrawable(R.drawable.shadow);
menu.setBehindOffsetRes(R.dimen.slidingmenu_offset);
menu.setFadeDegree(0.35f);
menu.attachToActivity(this, SlidingMenu.SLIDING_CONTENT);
menu.setMenu(R.layout.menu);