His family was friends with Leopold von Ranke, who inspired Kiepert's creative endeavors.
[1] He published his first geographical work, with Carl Ritter, in 1840, titled Atlas von Hellas und den hellenischen Kolonien.
[2] In 1841, he drew the maps which appeared in a groundbreaking book on the Mideast, Biblical Researches in Palestine, written by Edward Robinson.
In 1894 he created the first part of a larger atlas of the ancient world titled Formae orbis antiqui.
[1] Furthermore, he made some maps for the Baedeker publishing, mainly for their Egypt and Palestine outstanding guides but also for some of Europe (Paris, London, South Italy, etc.