During a long run with that company in Birmingham, Kingston met the actor Marigold Sharman. In 1961, while together on an Old Vic tour of Australia and South America – when Kingston's roles included Feste in Twelfth Night, alongside Vivien Leigh – the couple married in Brisbane. In 2008, Kingston – who was an enthusiastic member of the Stage Golfing Society – moved with Marigold to the actors' home at Denville Hall, Northwood, Middlesex. She survives him.