The ECR group member has promised to use his seat in the House of Lords to promote his home county of Yorkshire.
"This is a great honour and an unexpected one," said Kirkhope on Friday.
"It is recognition not just for me but all the Conservative MEPs who perform an important and often unheralded role in representing the UK's interests in Brussels.
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"When I take up my seat in the Lords I will continue champion Yorkshire as I have always done as an MP and MEP."
Kirkhope has been MEP for Yorkshire and the Humber since 1999. He is the Conservative spokesperson for justice and home affairs and a member of the European Parliament's delegation for relations with the United States.
He recently succeeded in steering his passenger name record directive through the European Parliament. This will see air travel details shared between police and intelligence services across the EU, aiding the fight against terrorism and organised crime.
In 2009 he was a founding member and Vice-Chair of the European Conservatives and Reformists (ECR) group in the European Parliament.
Kirkhope was MP for Leeds North East from 1987 to 1997, holding a number of posts, including home office minister responsible for immigration, race and community relations and international policing.
Among the 46 people to get honours are Cameron's former director of communications, Craig Oliver, who will get a knighthood, and George Osborne, the former Chancellor, who becomes a companion of honour.
Michael Fallon, the UK defence secretary, will be a knight commander (KCB) and Patrick McLoughlin, the new Tory chairman, is to get a knighthood.
Apart from Kirkhope, other peers include Olivia Bloomfield, who worked in fundraising at Conservative party headquarters, Jonathan Caine, a former special adviser in the Northern Ireland office, Mark McInnes, a Conservative councillor in Edinburgh, Philippa Roe, leader of Westminster city council and Charlotte Vere, a former executive director at Conservatives In.
The publication of the list created an immediate backlash against Cameron and his successor in Downing Street, Theresa May, who has refused to block the list because it would "set a bad precedent".
Tim Farron, leader of the Liberal Democrats, accused Cameron of making a list "so full of cronies it would embarrass a medieval court."
The list will increase membership of the House of Lords to more than 800 for the first time and mean the number of appointed Conservative peers rises above that of Labour, making it easier for the government to pass legislation in the upper chamber.