I managed to get iCloud Contact Sync working on Android devices, this should work for every single CardDav compatible device.
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On Android, install a CardDav app, this one is great and free.
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- Add an account in CardDav
- For Server name enter https://contacts.icloud.com
- Make sure SSL is checked
- For username enter your iCloud username (example [email protected]) and password enter your iCloud password.
- Press Ok, wait a few seconds for it to confirm
And voilla, your iCloud contacts now sync with your Android device, it may take a few minutes for them to show up.