Use PdfiumAndroid as mentioned by barteksc here.
Still working in 2021...
Sample Code for generating Pdf thumb
//PdfiumAndroid (https://github.com/barteksc/PdfiumAndroid)
//https://github.com/barteksc/AndroidPdfViewer/issues/49
void generateImageFromPdf(Uri pdfUri) {
    int pageNumber = 0;
    PdfiumCore pdfiumCore = new PdfiumCore(this);
    try {
        //http://www.programcreek.com/java-api-examples/index.php?api=android.os.ParcelFileDescriptor
        ParcelFileDescriptor fd = getContentResolver().openFileDescriptor(pdfUri, "r");
        PdfDocument pdfDocument = pdfiumCore.newDocument(fd);
        pdfiumCore.openPage(pdfDocument, pageNumber);
        int width = pdfiumCore.getPageWidthPoint(pdfDocument, pageNumber);
        int height = pdfiumCore.getPageHeightPoint(pdfDocument, pageNumber);
        Bitmap bmp = Bitmap.createBitmap(width, height, Bitmap.Config.ARGB_8888);
        pdfiumCore.renderPageBitmap(pdfDocument, bmp, pageNumber, 0, 0, width, height);
        saveImage(bmp);
        pdfiumCore.closeDocument(pdfDocument); // important!
    } catch(Exception e) {
        //todo with exception
    }
}
public final static String FOLDER = Environment.getExternalStorageDirectory() + "/PDF";
private void saveImage(Bitmap bmp) {
    FileOutputStream out = null;
    try {
        File folder = new File(FOLDER);
        if(!folder.exists())
            folder.mkdirs();
        File file = new File(folder, "PDF.png");
        out = new FileOutputStream(file);
        bmp.compress(Bitmap.CompressFormat.PNG, 100, out); // bmp is your Bitmap instance
    } catch (Exception e) {
        //todo with exception
    } finally {
        try {
            if (out != null)
                out.close();
        } catch (Exception e) {
            //todo with exception
        }
    }
}
Update:
Include the library in the build.gradle
implementation 'com.github.barteksc:android-pdf-viewer:3.2.0-beta.1'
For generating Image of any PDF Page:
Call the method generateImageFromPdf(uri) by passing any PDF uri that is stored in your storage.
The method will generate the PDF.png in the PDF folder of your storage.