To install adb and fastboot without installing whole android sdk on kali you need to follow these step:
- open terminal
apt-get install android-tools-adb android-tools-fastboot
it will install adb and fastboot on your debian system
for working properly adb and fastboot make sure your system have proper repositories installed.
if you have problem running adb and fastboot then try to install ib32stdc++6 by following command:
apt-get install lib32stdc++6 lib32z1 lib32z1-dev
it will solve your problem.