Ireland bowled out Kenya for just 156 in their second innings to leave themselves a target of 245 to win and they reached their objective mid-way through the final session.
Jeremy Bray hit 64 and combined in an opening stand of 83 with Dominick Joyce, who cracked a rapid 48.
Kenya skipper Steve Tikolo grabbed two wickets for Kenya but Ireland's in-form middle order had few problems reaching the target.
Ant Botha was unbeaten on 43, his second important innings of the match following the first innings 78 which enable the declaration by Trent Johnston, the Ireland captain.
That gamble was rewarded with a superb effort from the Irish attack, as they took the remaining seven Kenya wickets for just 48 runs.
The key at the start of the day for Ireland was early wickets. They made the perfect start when Maurice Odumba became Andrew White's third wicket with just four runs added to Kenya's overnight total of 104 for 3.
Kyle McCallan then took over the demolition job and snapped up the key wicket of Tikolo, who was made two hundreds in three innings - for 24.
Three further scalps followed for McCallan while Adrian McCoubrey and Andre Botha chipped in with one each.