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<!-- DFIN New ActiveDisclosure (SM) XBRL Schema Document - http://www.dfinsolutions.com/ -->
<!-- Creation Date :2023-05-08T11:22:36.3060+00:00 -->
<!-- Copyright (c) 2023 Donnelly Financial Solutions, Inc. All Rights Reserved. -->
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        <link:definition>100200 - Disclosure - Retirement Plans</link:definition>
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        <link:definition>100270 - Disclosure - Long-Term Debt (Tables)</link:definition>
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        <link:definition>100280 - Disclosure - Leases (Tables)</link:definition>
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        <link:definition>100290 - Disclosure - Stock Award Plans (Tables)</link:definition>
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        <link:definition>100300 - Disclosure - Taxes on Income (Tables)</link:definition>
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        <link:definition>100310 - Disclosure - Earnings Per Share (Tables)</link:definition>
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        <link:definition>100320 - Disclosure - Inventories (Tables)</link:definition>
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        <link:definition>100340 - Disclosure - Other Comprehensive Income (Tables)</link:definition>
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        <link:definition>100350 - Disclosure - Acquisition (Details)</link:definition>
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        <link:definition>100370 - Disclosure - Revenues, Remaining Performance Obligation (Details)</link:definition>
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        <link:definition>100370 - Disclosure - Revenues, Remaining Performance Obligation (Details) [Default]</link:definition>
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        <link:definition>100380 - Disclosure - Segment Data (Details)</link:definition>
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        <link:definition>100390 - Disclosure - Long-Term Debt, Carrying Value and Fair Value of Debt Outstanding (Details)</link:definition>
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        <link:definition>100400 - Disclosure - Long-Term Debt, Borrowings and Payments under Bank Credit Facilities (Details)</link:definition>
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        <link:definition>100410 - Disclosure - Long-Term Debt (Details)</link:definition>
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        <link:definition>100420 - Disclosure - Leases, Future Minimum Lease Payments Under Operating Leases (Details)</link:definition>
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        <link:usedOn>link:calculationLink</link:usedOn>
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        <link:definition>100430 - Disclosure - Leases, Lease Cost (Details)</link:definition>
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        <link:definition>100440 - Disclosure - Leases, Other Supplemental Information (Details)</link:definition>
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        <link:usedOn>link:calculationLink</link:usedOn>
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      <link:roleType roleURI="http://kirbycorp.com/20230331/taxonomy/role/StockAwardPlansCompensationCostDetails" id="StockAwardPlansCompensationCostDetails">
        <link:definition>100450 - Disclosure - Stock Award Plans, Compensation Cost (Details)</link:definition>
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        <link:definition>100460 - Disclosure - Stock Award Plans (Details)</link:definition>
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        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
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      <link:roleType roleURI="http://kirbycorp.com/20230331/taxonomy/role/TaxesOnIncomeDetails" id="TaxesOnIncomeDetails">
        <link:definition>100470 - Disclosure - Taxes on Income (Details)</link:definition>
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        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
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        <link:definition>100480 - Disclosure - Earnings Per Share (Details)</link:definition>
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        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
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        <link:definition>100490 - Disclosure - Inventories (Details)</link:definition>
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        <link:definition>100510 - Disclosure - Other Comprehensive Income (Details)</link:definition>
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        <link:definition>100520 - Disclosure - Contingencies and Commitments (Details)</link:definition>
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  <xsd:element id="kex_CashPaidDuringPeriodAbstract" name="CashPaidDuringPeriodAbstract" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_DebtInstrumentCarryingValueAndFairValueAbstract" name="DebtInstrumentCarryingValueAndFairValueAbstract" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_EmployeeStockAwardPlanAbstract" name="EmployeeStockAwardPlanAbstract" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_IncomeTaxDescriptionAbstract" name="IncomeTaxDescriptionAbstract" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_NonCashInvestingActivityAbstract" name="NonCashInvestingActivityAbstract" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_OtherSegmentDisclosureAbstract" name="OtherSegmentDisclosureAbstract" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_OtherSupplementalInformationAboutOperatingLeasesAbstract" name="OtherSupplementalInformationAboutOperatingLeasesAbstract" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_ProvisionForTaxesOnIncomeAbstract" name="ProvisionForTaxesOnIncomeAbstract" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_SharesOutstandingAbstract" name="SharesOutstandingAbstract" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_AmortizationOfMajorMaintenanceCosts" name="AmortizationOfMajorMaintenanceCosts" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="kex_CapitalExpendituresIncurredPaidAndNotYetPaid" name="CapitalExpendituresIncurredPaidAndNotYetPaid" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="kex_CostsOfSalesAndOperatingExpenses" name="CostsOfSalesAndOperatingExpenses" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="kex_EmployeePensionPlanGrandfatheredParticipantsParticipantAge" name="EmployeePensionPlanGrandfatheredParticipantsParticipantAge" type="xbrli:durationItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="kex_EmployeePensionPlanGrandfatheredParticipantsParticipantServicePeriodWhoIsFiftyYearsOld" name="EmployeePensionPlanGrandfatheredParticipantsParticipantServicePeriodWhoIsFiftyYearsOld" type="xbrli:durationItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="kex_EmployeePensionPlanGrandfatheredParticipantsServicePeriod" name="EmployeePensionPlanGrandfatheredParticipantsServicePeriod" type="xbrli:durationItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="kex_GeneralCorporateAssets" name="GeneralCorporateAssets" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="kex_GeneralCorporateExpenses" name="GeneralCorporateExpenses" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="kex_LesseeOperatingLeaseLiabilityPaymentsDueAfterYearFour" name="LesseeOperatingLeaseLiabilityPaymentsDueAfterYearFour" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="kex_LineOfCreditFacilityRepayment" name="LineOfCreditFacilityRepayment" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="kex_OtherComprehensiveIncomeLossDefinedBenefitPlanPriorServiceCostCreditSettlementReclassificationAdjustmentFromAOCIAfterTax" name="OtherComprehensiveIncomeLossDefinedBenefitPlanPriorServiceCostCreditSettlementReclassificationAdjustmentFromAOCIAfterTax" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="kex_OtherComprehensiveIncomeLossDefinedBenefitPlanPriorServiceCostCreditSettlementReclassificationAdjustmentFromAOCIBeforeTax" name="OtherComprehensiveIncomeLossDefinedBenefitPlanPriorServiceCostCreditSettlementReclassificationAdjustmentFromAOCIBeforeTax" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="kex_OtherComprehensiveIncomeLossDefinedBenefitPlanPriorServiceCostCreditSettlementReclassificationAdjustmentFromAOCITax" name="OtherComprehensiveIncomeLossDefinedBenefitPlanPriorServiceCostCreditSettlementReclassificationAdjustmentFromAOCITax" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="kex_PensionPlanDefinedBenefitPlanCostIncreaseLimitPercentage" name="PensionPlanDefinedBenefitPlanCostIncreaseLimitPercentage" type="dtr-types:percentItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="kex_PercentageOfCostsRelatedToServiceCostsEstimated" name="PercentageOfCostsRelatedToServiceCostsEstimated" type="dtr-types:percentItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="kex_ReturnOfInvestmentToNoncontrollingInterests" name="ReturnOfInvestmentToNoncontrollingInterests" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="kex_TermOfInstrumentUnderGuarantorObligations" name="TermOfInstrumentUnderGuarantorObligations" type="xbrli:durationItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="kex_UndistributedEarningsReallocatedToRestrictedShares" name="UndistributedEarningsReallocatedToRestrictedShares" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="kex_UnpaidBalance" name="UnpaidBalance" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="kex_WeightedAverageCommonStockIssuedAndOutstanding" name="WeightedAverageCommonStockIssuedAndOutstanding" type="xbrli:sharesItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="kex_IncomeTaxDisclosureLineItems" name="IncomeTaxDisclosureLineItems" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_BankNotePayableMember" name="BankNotePayableMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_CoastalTransportationMember" name="CoastalTransportationMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_CommercialAndIndustrialMember" name="CommercialAndIndustrialMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
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  <xsd:element id="kex_DirectorPlanMember" name="DirectorPlanMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_DistributionAndServicesMember" name="DistributionAndServicesMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_EmployeePlanMember" name="EmployeePlanMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_GearboxRepairMember" name="GearboxRepairMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_HigmanMarineIncMember" name="HigmanMarineIncMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_InlandTransportationMember" name="InlandTransportationMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_MarineTransportationMember" name="MarineTransportationMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_Plan2019Member" name="Plan2019Member" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_RevolvingCreditFacilityDueJuneThirtyTwoThousandTwentyOneMember" name="RevolvingCreditFacilityDueJuneThirtyTwoThousandTwentyOneMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_SeniorNotesDueJanuaryNineteenTwoThousandThirtyThreeMember" name="SeniorNotesDueJanuaryNineteenTwoThousandThirtyThreeMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_SeniorNotesDueMarchOneTwoThousandTwentyEightMember" name="SeniorNotesDueMarchOneTwoThousandTwentyEightMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_SeniorNotesSeriesBDueFebruaryTwentySevenTwoThousandTwentyThreeMember" name="SeniorNotesSeriesBDueFebruaryTwentySevenTwoThousandTwentyThreeMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_SettlementAgreementMember" name="SettlementAgreementMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_TermLoanDueJulyTwentyNineTwoThousandTwentySevenMember" name="TermLoanDueJulyTwentyNineTwoThousandTwentySevenMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_TermLoanDueMarchTwentySevenTwoThousandTwentyFourMember" name="TermLoanDueMarchTwentySevenTwoThousandTwentyFourMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_TermLoanFacilityMember" name="TermLoanFacilityMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_ThreePointFiveOnePercentageSeniorNotesDueJanuaryNineteenTwoThousandThirtyThreeMember" name="ThreePointFiveOnePercentageSeniorNotesDueJanuaryNineteenTwoThousandThirtyThreeMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_ThreePointFiveOneSeriesBNotesDueJanuaryNineteenTwoThousandThirtyThreeMember" name="ThreePointFiveOneSeriesBNotesDueJanuaryNineteenTwoThousandThirtyThreeMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_ThreePointFourSixSeriesANotesDueJanuaryNineteenTwoThousandThirtyThreeMember" name="ThreePointFourSixSeriesANotesDueJanuaryNineteenTwoThousandThirtyThreeMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_IncomeTaxDisclosureTable" name="IncomeTaxDisclosureTable" type="xbrli:stringItemType" substitutionGroup="xbrldt:hypercubeItem" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="kex_OperatingLeasesWeightedAverageDiscountRateAndRemainingLeaseTermTableTextBlock" name="OperatingLeasesWeightedAverageDiscountRateAndRemainingLeaseTermTableTextBlock" type="dtr-types:textBlockItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="kex_ScheduleOfOtherSegmentReportingInformationBySegmentTableTextBlock" name="ScheduleOfOtherSegmentReportingInformationBySegmentTableTextBlock" type="dtr-types:textBlockItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
</xsd:schema>
