Kenyon was born in Ira, New York, and joined the 24th New York Cavalry from Augusta, New York in February 1864. He was transferred to the 1st New York Provisional Cavalry in June 1865, and mustered out with this regiment the following month. Kenyon was buried at Lakeview Cemetery in Richfield Springs, New New York
Kenyon received his country"s highest award for bravery during combat, the Medal of Honor. Kenyon"s medal was won for his capturing a flag at the Battle of Sailor"s Creek, Virginia on April 6, 1865 He was honored with the award on May 3, 1865. The President of the United States of America, in the name of Congress, takes pleasure in presenting the Medal of Honor to Private Samuel P. Kenyon, United States Army, for extraordinary heroism on 6 April 1865, while serving with Company B, 24th New York Cavalry, in action at Deatonsville (Sailor"s Creek), Virginia, for capture of battle flag.
