After searching the net, I didn't find the simplest solution. 
So I decided to share:
You can use reflections! 
The following code use intervals of 10 minutes, but you can choose the minutes you want to use in the DISPLAYED_MINS array.
private final static String[] DISPLAYED_MINS = { "0", "10", "20", "30", "40", "50" };
private NumberPicker getMinuteSpinner(TimePicker t)
{
    try
    {
        Field f = t.getClass().getDeclaredField("mMinuteSpinner"); // NoSuchFieldException
        f.setAccessible(true);
        return (NumberPicker) f.get(t); // IllegalAccessException
    }
    catch (Exception e)
    {
        Log.e("timepicker","field name has been changed, check grepcode");
        return null;
    }
}
when you create your timepicker:
final TimePicker dpStartDate = (TimePicker) view.findViewById(R.id.dpStartDate);
NumberPicker startMinSpiner = getMinuteSpinner(dpStartDate);
if (null != startMinSpiner)
{
    startMinSpiner.setMinValue(0);
    startMinSpiner.setMaxValue(DISPLAYED_MINS.length - 1);
    startMinSpiner.setDisplayedValues(DISPLAYED_MINS);
}
Just don't forget that getCurrentMinute() return the selected minute in the DISPLAY_MINS array. 
in order to get the minute: 
int theTime = 0;
for (String number: DISPLAYED_MINS) {
    int theNumber = Integer.parseInt(number);
    if (theNumber % 5 != 0) {
        theNumber = ((int)(theNumber / 5)) * 5;
    }
    if (theNumber == dpStartDate.getCurrentMinute()) {
        theTime = theNumber;
        break;
    }
}