A vassal of Uesugi Kenshin, eldest son and heir of Kitajou Takahiro. In 1563, he and his father both entered Maebashi Castle to help with the governing of the Kantou. He succeeded his father as head of the clan in 1574 at his father's retirement.

He supported Uesugi Kagetora in the Otate no Ran after Kenshin's death and fought several battles with Uesugi Kagekatsu's troops in Echigo. The following year, he was injured by a lance wielded by one of Kagekatsu's commanders, Ogita Nagashige, which became a fatal wound and killed him. Kagehiro had been a central cohesive force in Kagetora's faction, and after his death Kagetora's faction began to fall apart, leading to his defeat.