Matsudaira Kiyoyoshi served as a bushō during the Sengoku and Azuchi-Momoyama periods.  Kiyoyoshi was the fourth head of the Takenoya-Matsudaira family.  Founded by Matsudaira Moriie, the Takenoya-Matsudaira were an illegitimate branch of the Matsudaira clan based in Takenoya in the Hoi District of Mikawa Province.

Kiyoyoshi was born as the eldest son of Matsudaira Chikayoshi.

In 1560, after the death of Imagawa Yoshimoto at the Battle of Okehazama, Kiyoyoshi abandoned the Imagawa clan and pledged allegiance to Tokugawa Ieyasu so his daughter who had been a hostage of the Imagawa was slain.  Beginning in 1558, he was ordered by Ieyasu to guard Mariko Castle in Suruga Province.  In 1562, he succeeded in attacking and toppling the base of Udono Nagateru at Kaminogō Castle in the Hoi District of eastern Mikawa.  Nagateru, a retainer of the Imagawa, along with his father, Udono Nagamochi, were killed in the battle.  In 1572, Kiyoyoshi became the chamberlain of Utsuyama Castle in Tōtōmi Province.

In 1587, Kiyoyoshi died at the age of eighty-two.