豐橋市
Kiyokawa was born in Toyohashi, Aichi Prefecture, and graduated from the Tokyo College of Commerce (now Hitotsubashi University). Selected as a member of the Japanese swimming team at the 1932 Los Angeles Olympics, he won the gold medal in the 100 m backstroke event, with teammates Toshio Irie and Kentaro Kawatsu taking the silver and bronze. At the 1936 Berlin Olympics, he placed third in the same event.