Detection of entanglement is an indispensable step to practical quantum computation and communication. Compared with the conventional entanglement witness method based on fidelity, we propose a flexible, machine learning assisted entanglement detection protocol that is robust to different types of noises and sample efficient. In this protocol, an entanglement classifier for a generic entangled state is obtained by training a classical machine learning model with a synthetic dataset. The dataset contains classical features of two types of states and their labels (either entangled or separable). The classical features of a state, which are expectation values of a set of k-local Pauli observables, are estimated sample-efficiently by the classical shadow method. In the numerical simulation, our classifier can detect the entanglement of 4-qubit GHZ states with coherent noise and W states mixed with large white noise, with high accuracy.