Full-forward Yvonne McMonagle and corner forward Geraldine McLaughlin both scored 2-1 for the winners while Eilish Ward won the player of the match award after notching 1-4.
Donegal led 2-10 to 1-8 at half-time against the Lilywhites, who had goalscoring contributions from top scorer Aine Gately and sister Deirdre.
Scorers for Kildare: A Gately 1-6 (0-2f), T Noone 0-7 (6f), D Gately 1-0, L Keatley 0-1.
Scorers for Donegal: G McLaughlin 2-1, Y McMonagle 2-1, E Ward 1-4, N McLaughlin 0-2, N Hegarty 0-2, K Guthrie 0-2 (1f), G Houston 0-1, A McDonal 0-1, M Herron 0-1.
DONEGAL: R McCafferty; D Toner, M Devenney, K Wilson; C Hegarty, M Herron, D Foley; A McDonal, K Guthrie; G Houston, N Hegarty, U Leonard; E Ward, Y McMonagle, G McLaughlin.
Subs: N McLaughlin for Leonard, K Keeney for Wilson, B Gallagher for Houston (60).
KILDARE: T Martin; A Herbert, N Quinn, P Delahunt; A Lyons, M Moolick, D Berry; A Holton, J Timmons; D Gately, T Noone, A Gately; L Keatley, B Leahy, S Hurley.
Subs: M Murphy for Hurley, C O’Malley for Timmons, K Turner for Martin, P Keatley for Lyons, C Dowling for D Gately.
Referee: J Niland (Sligo).