If you have a rooted android you use XPrivacy. The permissions are better on iOS than when I had an Android but depending on the app you dont have much control.

For example Waze and The Weather Channel app wont let me set Location Services to "While Using" (unlike Google maps and Apple Maps). Instead I am left with no access to location or Always on which drains my battery horribly.

Beside I shouldn't have to install a 3rd party to be able to restrict access.