Matsudaira Kiyomune served as a bushō from the Sengoku to early Edo periods.  He was a retainer of the Tokugawa clan of Mikawa Province.  Kiyomune served as the fifth 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.

Kiyomune served Tokugawa Ieyasu.  In 1562, he abandoned the Imagawa clan of Suruga Province and aligned with Ieyasu, participating in an assault on Kami-no-gō Castle.  Headship of the family may have been transferred to Kiyomune in the wake of the battle for Kami-no-gō Castle.  Kiyomune, however, was overshadowed by the achievements of his father, Matsudaira Kiyoyoshi.  In 1563, he served in a battle of suppression known as the Mikawa Ikkō-ikki with his contributions in battle gaining him notoriety.    In 1564, Kiyomune served in an attack by Ieyasu on Yoshida Castle, a base in the eastern portion of Mikawa.  Despite incurring two injuries in fighting near the entrance of the Ryūnen Temple, he garnered five heads of the enemy.

In the twelfth month of 1568, Kiyomune participated in the invasion by Ieyasu of Tōtōmi Province.  At the time, the Mikawa forces were comprised of a western nucleus based at Okazaki Castle and an eastern nucleus based at Yoshida Castle.  Members of the Takenoya-Matsudaira family were folded into the eastern forces under the command of Sakai Tadatsugu, the chamberlain of Yoshida Castle.  For this expedition, the primary objective of Ieyasu’s main division was to capture Hikuma Castle (later known as Hamamatsu Castle) on the eastern shore of Lake Hamana, while the forces led by Sakai Tadatsugu aimed to quickly subdue the western shore of Lake Hamana.

On 6/29 of Genki 1 (1570), Kiyomune served in the Battle of Anegawa.

On 5/21 of Tenshō 3 (1575), at the Battle of Nagashino, Kiyomune joined as a member of an offensive battalion led by Sakai Tadatsugu.  In 1582, after the annexation by Ieyasu of Suruga Province, he was assigned to Kōkokuji Castle with a fief of 2,000 kan and a contingent of fifty yoriki, or security officers.  At the Battle of Komaki-Nagakute, Kiyomune and his lineal heir, Matsudaira Iekiyo, did not participate and, instead, remained at Kōkokuji Castle to avert the threat from the Gohōjo clan of Sagami Province.

In 1590, Kiyomune served in the Conquest of Odawara.  At this time, the formations of the Tokugawa forces included Ieyasu’s main division, preceded by another operating division and first and second vanguard divisions.  Kiyomune and forces from Takenoya were incorporated into the left wing of the seventh unit of the second vanguard division.

In 1591, after the victory, Kiyomune accompanied the transfer of the Tokugawa family to the Kantō, becoming a landowner of 10,000 koku in Hachimanyama in the Kodama District in Musashi Province.  Kiyomune initially served in lieu of Iekiyo to administer the affairs of the Hachimanyama domain.  He was based at Kijigaoka Castle, entering around the eighth or ninth month.  From the onset, he aimed to increase the number of residents in his territory by offering to those who moved there an exemption from taxes in the following year.  Before long, he then transferred headship of the clan to his son, Iekiyo.

After the Battle of Sekigahara in 1600, Kiyomune spent the remainder of this life at the location to which his son, Iekiyo, was transferred at Yoshida Castle in Mikawa.  He died in 1605.  According to one theory, he was sixty-eight years old and was buried at the Zenei Temple built below the castle to serve as a family temple.

His sons included Iekiyo and Matsudaira Kiyosada.  Iekiyo and Kiyomune’s grandson, Matsudaira Tadakiyo, each received one of the characters in their names from Ieyasu, indicative of the active support that Kiyomune provided to Ieyasu and his meritorious service in numerous battles.