You can do that with an easy step. Don’t remove the android.support.design.widget.AppBarLayout from your layout, instead add the attribute app:elevation="0dp" to it. Your final layout will be:
<android.support.design.widget.AppBarLayout
android:id="@+id/appBarLayout"
android:layout_width="match_parent"
android:layout_height="wrap_content"
app:elevation="0dp">
...
</android.support.design.widget.AppBarLayout>