In April 1474 William Hastings, the 1st Baron Hastings acquired the manorial right to Kirby. In 1480 he began to build the Moated Kirby Muxloe Castle Work stopped soon after Lord Hastings was executed on 13 June 1483 on the orders of King Richard III for conspiracy; he was caught up in the rivalry for the throne after the death of Edward IV. In 1911 the castle was handed over to the Office of works and is now in the Care of English Heritage
There are some interesting buildings in the village. During the war in 1947 a German bomber returning from an attack on Coventry emptied load on Kirby destroying the free church and several houses
