Show CollapsingToolbarLayout title only when collapsed

You can add OnOffsetChangedListener to AppBarLayout to determine when CollapsingToolbarLayout is collapsed or expanded and set it's title.

Java

final CollapsingToolbarLayout collapsingToolbarLayout = (CollapsingToolbarLayout) findViewById(R.id.collapsingToolbarLayout);
AppBarLayout appBarLayout = (AppBarLayout) findViewById(R.id.appBarLayout);
appBarLayout.addOnOffsetChangedListener(new AppBarLayout.OnOffsetChangedListener() {
    boolean isShow = true;
    int scrollRange = -1;

    @Override
    public void onOffsetChanged(AppBarLayout appBarLayout, int verticalOffset) {
        if (scrollRange == -1) {
            scrollRange = appBarLayout.getTotalScrollRange();
        }
        if (scrollRange + verticalOffset == 0) {
            collapsingToolbarLayout.setTitle("Title");
            isShow = true;
        } else if(isShow) {
            collapsingToolbarLayout.setTitle(" ");//careful there should a space between double quote otherwise it wont work 
            isShow = false;
        }
    }
});

Kotlin

var isShow = true
var scrollRange = -1
appBarLayout.addOnOffsetChangedListener(AppBarLayout.OnOffsetChangedListener { barLayout, verticalOffset ->
    if (scrollRange == -1){
        scrollRange = barLayout?.totalScrollRange!!
    }
    if (scrollRange + verticalOffset == 0){
        collapsingToolbarLayout.title = "Title Collapse"
        isShow = true
    } else if (isShow){
        collapsingToolbarLayout.title = " " //careful there should a space between double quote otherwise it wont work
        isShow = false
    }
})

I tried dlohani's solution, but didn't like it because of the fading out. With this solution, you remove the fading completely.

The trick is to create a new style with textSize equal to 0.1sp or 0sp (this one crashes on SDK < 19) and textColor transparent:

For SDK < 19

<style name="CollapsingToolbarLayoutExpandedTextStyle" parent="AppTheme">
    <item name="android:textColor">@android:color/transparent</item>
    <item name="android:textSize">0.1sp</item>
</style>

For SDK >= 19

<style name="CollapsingToolbarLayoutExpandedTextStyle" parent="AppTheme">
    <item name="android:textColor">@android:color/transparent</item>
    <item name="android:textSize">0sp</item>
</style>

Then apply it to the CollapsingToolbarLayout in your layout:

    <android.support.design.widget.CollapsingToolbarLayout
        android:id="@+id/collapsing_toolbar"
        android:layout_width="match_parent"
        android:layout_height="match_parent"
        app:expandedTitleTextAppearance="@style/CollapsingToolbarLayoutExpandedTextStyle"
        app:layout_scrollFlags="scroll|exitUntilCollapsed">

I was able to get the desired effect by adding following property to the xml layout:

app:expandedTitleTextAppearance="@android:color/transparent"

so my CollapsingToolbarLayout looks like this

<android.support.design.widget.CollapsingToolbarLayout
        android:id="@+id/collapsingToolbarLayout"
        android:layout_width="match_parent"
        android:layout_height="match_parent"
        app:expandedTitleTextAppearance="@android:color/transparent"
        app:layout_scrollFlags="scroll|exitUntilCollapsed">

I have a more simple answer:

final CollapsingToolbarLayout collapsingToolbarLayout = (CollapsingToolbarLayout) findViewById(R.id.toolbar_layout);

collapsingToolbarLayout.setTitle("Your Title");
collapsingToolbarLayout.setExpandedTitleColor(getResources().getColor(R.color.transperent)); // transperent color = #00000000
collapsingToolbarLayout.setCollapsedTitleTextColor(Color.rgb(0, 0, 0)); //Color of your title

Happy Coding!