A court noble of the late Nara to early Heian period. He is famous as the loyal retainer who prevented the monk Dokyo from ascending the throne. In 769, an oracle was said to have come from the Usa Hachimangu Shrine saying "make Dokyo emperor" (the Usa Hachimangu Oracle Incident); sent by Empress Shotoku to verify the oracle, Kiyomaro returned with the opposite verdict: "Dokyo must not be made emperor." He incurred Dokyo's anger, was forced to take the degrading name "Wake no Kitanamaro," and was exiled to Osumi Province (Kagoshima), but after Empress Shotoku's death had his honor restored and was trusted by Emperors Konin and Kanmu. He contributed to the construction of the capital Heiankyo (Kyoto), and is one of the founders of present-day Kyoto. He is still revered as the enshrined deity of Goo Shrine (Kyoto).

A man of strong conviction who did not shrink from contradicting those in power, combined with loyalty to protect the legitimacy of the imperial family. A man of firm character who did not bend his beliefs even under the heavy punishment of exile.

He remains in history as the loyal retainer who prevented Dokyo's usurpation of the throne. Goo Shrine (adjacent to the west of Kyoto Imperial Palace) was granted the name "Goo" by Emperor Meiji and is still beloved as the "boar shrine" today.