Step 1: If your contacts are currently stored in iClouds, you'll need to transfer them to Gmail so they can be accessed on your Android device. Go to 'Mail, Contacts, Calendars', then go to Accounts. Open iCloud and make sure to toggle for 'Contacts' is on. If it isn't , turn it on and Merge your device's contacts with iCloud.
Step 2: Open any web browser on your PC and go to www.icloud.com. Log in with your Apple ID and click Select All. Click the cog again( if the window is no longer open) and select Export vCard.
Step 3: Open Gmail in your browser, then click the Gmail drop-down menu top left( under the google logo). Select Contacts, click More and select Import. Browse for the vCard file you saved and click Import. When it's done, click More again and select 'Find and merge duplicates' to remove any repeated contacts.