Kirkby was named after the Mallory family, most prominently Sir Anketil Malory (1341–1393), a knight and governor of the castle and town of Leicester in the time of Richard II.

In 1696, Thomas's brother, Sir John Neale (father of Clobery and William), left a rent roll listing the tenants and their rents and referring to Sir John's mansion house or hall with attached woods worth 3,000 pounds and "a large park, very well wooded, and stocked with deer".

According to Nichols,[citation needed] Kirkby was enclosed in 1771, the award listing 780 acres (3.2 km2) and naming Edward Wentworth as Lord of the Manor.

The parish was notable for its fine new hall, rebuilt in the 18th century by the Lord Viscount Wentworth but demolished in 1952.

On 1 April 1935 the parish was abolished and merged with Peckleton; part also went to Newbold Verdon.