Under the new rules, travellers over the age of five are required to present a negative PCR test, taken within 96 hours before arrival.
Visitors from the UK also have to submit daily health information for 14 consecutive days whilst in Kenya.
Kenya Tourism Board chief executive, Betty Radier said the association is "thrilled" to welcome back visitors from the UK.
"With restrictions now removed, we look forward to having even more visitors from the UK explore our beautiful country again," she added.
The move comes after the UK government removed Kenya from the red list following the overhaul of the traffic light system.
