Can't find AVD or SDK manager in Eclipse
I had similar problem after updating SDK from r20 to r21, but all I missed was the SDK/AVD Manager and running into this post while searching for the answer.
I managed to solve it by going to Window -> Customize Perspective
, and under Command Groups Availability tab check the Android SDK and AVD Manager (not sure why it became unchecked because it was there before). I'm using Mac by the way, in case the menu option looks different.