A late burst of speed saw Kenny overhaul Great Britain team-mate Neah Evans and then hold off New Zealand's Michaela Drummond and Canada's Maggie Coles-Lyster at the end of a crash-interrupted women's scratch race.
Kenny had downplayed her form over the weekend, claiming to be the weakest link in England's bronze-winning team pursuit squad before finishing a lowly 13th in Sunday's points race, but found the pace needed to claim her first Commonwealth gold since Glasgow in 2014.
The 40-lap race was neutralised midway through after India's Meenakshi Meenakshi collided with Ariane Bonhomme, sending the Canadian down before she was hit by a helpless Bryony Botha of New Zealand. Racing was stopped as Bonhomme was carried out on a stretcher.
After the action resumed, Kenny's England team-mates Sophie Lewis and Grace Lister both tried attacks inside the final 10 laps.
But it was when Scotland's Evans broke clear that Lewis provided a lead-out for Kenny and she finished it off over the final laps - roared home by the London crowd with decibel levels reminiscent of the London Olympics a decade ago.
Weightlifting gold for Chris Murray
England's Chris Murray, meanwhile, won weightlifting gold in Birmingham and then vowed not to tell girlfriend and fellow competitor Holly O'Shea about his Commonwealth Games glory.
Murray won the men's 81kg weightlifting final after Australia's Kyle Bruce and Canadian Nicolas Vachon failed to overtake him in dramatic circumstances.
But Murray's thoughts instantly turned to girlfriend O'Shea, who was Gibraltar's flagbearer at the opening ceremony and is competing at these Games in the women's 71kg category on Monday night.
Murray said: "She told me she wasn't going to watch and try not to find out the result.
"This is her Games too and she's worked so hard to get here. I don't want anything about her day to be about me.
"Hopefully no one tells her the result and afterwards we can celebrate together."
Murray led at the halfway point after completing a 144kg snatch, with Bruce, his, closest challenger, trying and failing twice to lift 147kg.
The flawless four-time British champion lifted 181kg in the clear and jerk and his new Games record of 325kg proved a winning total.
Bruce successfully completed a 180kg clean and jerk and initially got three green lights for his 183kg attempt, which would have put him into the gold medal position.
But it was ruled out by the jury because his left elbow was bent.
Vachon's victory attempt was undone when he dropped the bar after appearing to make a successful lift.
"I couldn't watch it," said the 22-year-old Murray, who was born in Surrey and trains in Loughborough.
"I had a towel over my head, the earphones in, and had a bit of a cry. I was so overwhelmed.
"Part of me is a bit upset I didn't watch it, but I couldn't put myself through it.
"I was just so happy with the British record and PBs and that was enough for me.
"When my coach told me I'd won gold I broke down again. To win in front of a home crowd is amazing."
England's Zoe Smith finished fourth in the women's 64kg final.
Smith briefly went into the bronze medal position with a new 122kg Commonwealth Games clean and jerk record.
But that record was smashed by Canada's Maude Charron who took gold with a combined total of 231kg, 15kg more than Australia's Sarah Cochrane.
Nigeria's Islamiyat Adebukola Yusuf was third on 212kg, two kilos above Smith. Wales' Christie Williams was seventh and Northern Ireland's Caroline Doyle ninth.