Topological insulators and topological superconductors display various topological phases that are characterized by different Chern numbers or by gapless edge states. In this work we show that various quantum information methods such as the von Neumann entropy, entanglement spectrum, fidelity, and fidelity spectrum may be used to detect and distinguish topological phases and their transitions. As an example we consider a two-dimensional $p$-wave superconductor, with Rashba spin-orbit coupling and a Zeeman term. The nature of the phases and their changes are clarified by the eigenvectors of the $k$-space reduced density matrix. We show that in the topologically nontrivial phases the highest weight eigenvector is fully aligned with the triplet pairing state. A signature of the various phase transitions between two points on the parameter space is encoded in the $k$-space fidelity operator.