Unless you know you want to be using the Android L developer preview with your application, do not target and compile with it. It is still very much a preview release, and it appears as though applications targeting and compiling for the preview cause this error with any non-L device.
Update these lines in your build.gradle to stick with the latest stable release (Android 4.4, API 19):
android {
compileSdkVersion 19
defaultConfig {
targetSdkVersion 19
}
}