File file = new File("android.resource://[package]/[res id]");
Intent target = new Intent(Intent.ACTION_VIEW);
target.setDataAndType(Uri.fromFile(file),"application/pdf");
target.setFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);

Intent intent = Intent.createChooser(target, "Abrir pdf");
try {
    startActivity(intent);
} catch (ActivityNotFoundException e) {
    Toast.makeText(this, "e.toString()", Toast.LENGTH_LONG).show();
}