Kiyohiro's personal name was Shichinosuke (七之助). He lived in the Sakaimachi area of Edo (modern Tokyo). He was registered as a student of Torii Kiyomasu I and likely studied under Torii Kiyonobu II or Torii Kiyomasu II. Ernest Fenollosa considered him "of almost equal ability with" his contemporary Torii Kiyomitsu, and speculated they may have been brothers.
Kiyohiro's first known work appeared about 1751, and the last about 1764. All of his known works are benizuri-e, and though the Torii school was known for its yakusha-e actor prints, Kiyohiro also specialized in bijin-ga prints of female beauties. He specialized in designing prints in the large ōban size.
- Fenollosa, Ernest (1896). The Masters of Ukioye: A Complete Historical Description of Japanese Paintings and Color Prints of the Genre School. Knickerbocker Press.
- Fujisawa, Murasaki (2006). "Kawamata Tsuneyuki". In Kobayashi, Tadashi (ed.). Ukiyo eshi retsuden 浮世絵師列伝. Bessatsu Taiyō (in Japanese). Heibonsha. p. 31. ISBN 9784582944938.
- Japan Ukiyo-e Association (1982). Genshoku Ukiyo-e Dai-Hyakka Jiten 原色 浮世絵大百科事典 第６巻 [Original Colour Grand Ukiyo-e Encyclopaedia]. 6. Taishūkan Publishing.
- Fujikake, Shizuya (1946). "Torii Kiyohiro". Zōtei Ukiyo-e 増訂浮世絵. Yuzankaku. pp. 101–102.
- Link, Howard A.; Suzuki, Jūzō; Keyes, Roger S. (1980). Primitive Ukiyo-e from the James A. Michener Collection in the Honolulu Academy of Arts. University Press of Hawaii. ISBN 978-0-8248-0483-1.