was a Japanese daimyō during the Azuchi–Momoyama and Edo periods. A native of Mikawa Province, Kiyonaga served the Tokugawa clan in battle until 1600. In Mikawa, he served as one of Tokugawa Ieyasu's "Three Magistrates" (san-bugyō).
Together with Amano Yasukage and Honda Shigetsugu. Yasukage was known for his patience, Shigetsugu for his fortitude, and Kiyonaga for his leniency; this leniency earned him the nickname of "Buddha Kōriki" (Hotoke Kōriki 仏高力). Kiyonaga later served Matsudaira Hirotada. He also transported provisions to Ōdaka Castle during the Battle of Okehazama.
In 1562, When Ieyasu proclaimed his independence from the Imagawa clan after the death of Yoshimoto, he accompanied Ieyasu to Kiyosu Castle in Owari when he signed the Kiyosu Alliance with the Oda clan.
In 1569, he joined in the pacification of Tōtōmi Province at Siege of Kakegawa castle.
In 1584 he took part in the Battle of Komaki and Nagakute against Toyotomi Hideyoshi. After the war, he served as a messenger to Hideyoshi, and at this time Kiyonaga impressed Hideyoshi, and in 1586 he was given the surname Toyotomi.
In 1590, After Siege of Odawara (1590), Kiyonaga became a daimyō, when he was granted the 20,000 koku fief of Iwatsuki.
In 1592, Kiyonaga also assisted with ship construction for the Seven-Year War (1592-1598).
As he was preceded in death by his son Masanaga, Kiyonaga retired after the Sekigahara, and passed down family headship to his grandson Tadafusa.