Like Wikipedia states, you can either render 2D images on the screen giving the effect of a 3D world. For this I would suggest you have a look at the SurfaceView class on the Android developer site as well as having a look at this Android Game Dev. link
If you prefer to rather create a 3D world and set the camera at a fixed angle and location the I suggest you have a read on OpenGl ES for Android.
If you are looking for Game Engines for Android, I suggest you have a look at this thread.
I hope this helps.
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solved 2.5D engine on Android? [closed]