Kenya have participated in the Africa Cup of Nations six times, making Kenya one of the more experienced East African teams in the competition. Despite this, Kenya have never advanced past the group stages of a single AFCON.[1]
| Year | Round | Position | |||||||
|---|---|---|---|---|---|---|---|---|---|
 1957 to 1959 | Not affiliated to CAF | ||||||||
 1962 to 1970 | Did not qualify | ||||||||
 1972 | Group stage | 5th | 3 | 0 | 2 | 1 | 3 | 4 | |
 1974 to  1982 | Did not qualify | ||||||||
| 1984 | Did not enter | ||||||||
| 1986 | Did not qualify | ||||||||
 1988 | Group stage | 8th | 3 | 0 | 1 | 2 | 0 | 6 | |
 1990 | 8th | 3 | 0 | 1 | 2 | 0 | 3 | ||
 1992 | 9th | 2 | 0 | 0 | 2 | 1 | 5 | ||
 1994 | Did not qualify | ||||||||
 1996 | Withdrew | ||||||||
 1998 to  2002 | Did not qualify | ||||||||
| 2004 | Group stage | 11th | 3 | 1 | 0 | 2 | 4 | 6 | |
2006 to  2017 | Did not qualify | ||||||||
| 2019 | Group stage | 17th | 3 | 1 | 0 | 2 | 3 | 7 | |
| 2021 | Did not qualify | ||||||||
| 2023 | Disqualified due to FIFA suspension | ||||||||
| 2025 | To be determined | ||||||||
  2027 | Qualified as co-hosts | ||||||||
| Total | Group stage | 7/36 | 17 | 2 | 4 | 11 | 11 | 31 | |
| Year | Stage | Date | Opponent | Result | |
|---|---|---|---|---|---|
| 1 | 1972 | Group stage | 23 February 1972 | 1–2 | |
| 26 February 1972 | 1–1 | ||||
| 28 February 1972 | 1–1 | ||||
| 2 | 1988 | Group stage | 14 March 1988 | 0–3 | |
| 17 March 1988 | 0–3 | ||||
| 20 March 1988 | 0–0 | ||||
| 3 | 1990 | Group stage | 3 March 1990 | 0–0 | |
| 6 March 1990 | 0–1 | ||||
| 9 March 1990 | 0–2 | ||||
| 4 | 1992 | Group stage | 14 January 1992 | 1–2 | |
| 16 January 1992 | 0–3 | ||||
| 5 | 2004 | Group stage | 26 January 2004 | 1–3 | |
| 20 January 2004 | 0–3 | ||||
| 2 February 2004 | 3–0 | ||||
| 6 | 2019 | Group stage | 23 June 2019 | 0–2 | |
| 27 June 2019 | 3–2 | ||||
| 1 July 2019 | 0–3 |