You can change the color of the panel as follows:
mToolbar.setBackgroundColor(getResources().getColor(android.R.color.transparent));
You can also change its background to XML:
android:background="@android:color/transparent"
Or if you use an ActionBar:
getSupportActionBar().setBackgroundDrawable(new ColorDrawable(getResources().getColor(android.R.color.transparent)));
Use getActionBar() if you are not using ActionBarActivity
Result:

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