The Yu Kiu Ancestral Hall in Ping Shan is situated adjacent to the Tang Ancestral Hall. It was built by two 11th generation brothers in the Tang clan, Tang Sai-yin (alias Yu-sing) and Tang Sai-chiu (alias Kiu-lum) between the 13th year of the Hongzhi reign and the 15th year of the Zhengde reign (1500-1520) in the Ming dynasty.
Apart from serving as an ancestral hall, the building housed Tat Tak Public School from 1931 to 1961, providing education to young clansmen in Ping Shan Heung. The layout and design of the Yu Kiu Ancestral Hall is similar to that of the adjacent Tang Ancestral Hall. It comprises three halls and two internal courtyards, with the ancestral altar in the rear hall. One of the outstanding architectural features of the building is the red sandstone doorframe at the main entrance.
The building probably underwent a major renovation during the Guangxu reign (1875-1908) of the Qing dynasty as indicated by the engraved characters on the stone tablet above the main entrance. Most of the original structures and features of the building remain intact. Renovations were carried out after a fire in the 1940s. The latest major restoration of the building was completed in 1995.
Yu Kiu Ancestral Hall was declared a monument in 2001.