Use a custom view:
TextView newTab = (TextView) LayoutInflater.from(this).inflate(R.layout.custom_tab, null);
newTab.setText("tab1"); //tab label txt
newTab.setCompoundDrawablesWithIntrinsicBounds(your_drawable_icon_here, 0, 0, 0);
tabLayout.getTabAt(tab_index_here_).setCustomView(newTab);