After the last incident that involved a tourist arrested in Tsavo East National Park without permission for using a remote-controlled drone to catch a pair of lions (clearly disturbed by the object plane), the Kenya Civil Aviation Authority issued a statement clarifying on the rules to follow for those who plan to use a drone, and not only in the private reserves.
Practically on the Kenyan soil it is prohibited from using drones, unless you require, and you may obtain the relevant permits both from the same authorities, both the Ministry of Defense.
Below Annex all official information.
http://www.malindikenya.net/images/uploads/files/KCAA%20DRONE.pdf