Kirby Underdale is a village and civil parish in the East Riding of Yorkshire, England.

The civil parish is formed by the village of Kirby Underdale and the hamlets of Garrowby, Painsthorpe and Uncleby.

Population at the time was 385, which included two farmers, one of whom was a butcher, a blacksmith, a grocer, and a carpenter.

Included in the parish and its population was the hamlet of Garraby, one mile (1.5 km) south-west, with two farmers and Sir F. L.

The population by 1840 was 293, with parish occupations that included twenty-one farmers, two wheelwrights, two shopkeepers, a tailor, a woodman, and a gamekeeper.