In 1666 Kirke obtained his first Army commission in Lord Admiral's regiment, and subsequently served in the Blues. In 1673 he was with Monmouth at Maastricht during the Franco-Dutch War and was present during two campaigns with Turenne on the Rhine. In 1680 he was promoted Lieutenant-Colonel, and soon afterwards Colonel of the 2nd Tangier Regiment (afterwards the King's Own Royal Lancaster Regiment). In 1682 he became Governor of Tangier and colonel of the Tangier Regiment (afterwards the Queens Royal West Surrey Regiment).