Yu Kiu Ancestral Hall, is situated adjacent to Tang Ancestral Hall, comprises three halls and two internal courtyards. The layout and design of Yu Kiu Ancestral Hall is identical to Tang Ancestral Hall. It was constructed in the early sixteenth century by two eleventh generation brothers of the Tang clan of Ping Shan: Tang Sai-yin (alias Yu-sing) and Tang Sai-chiu (alias Kiu-lum). Apart from serving as an ancestral hall, the building was also used as a teaching hall for youngsters of Ping Shan. From 1931 to 1961, it was occupied by Tat Tak Primary School. The last major renovation of the building probably took place during the Guangzu reign (1875-1908) of Qing dynasty as indicated by the engraved characters on the stone tablet above the main entrance. Most of the original structure and features of the building remain intact.

Yu Kiu Ancestral Hall was declared a monument on 14 December 2001.