Bishop Anthony Muheria of Kitui said that the focus of Western engagement in Africa should instead be on corruption and holding political leaders to account.
"I know it's not politically correct to say it here but they are pushing things that go against our African values and that we are not ready for," Bishop Muheria told The Tablet.
The bishop said Western governments were imposing on African nations a "gay [rights] agenda" and an "abortion agenda", which he said were "nothing to do with us and out of place".
The bishop was in London last week visiting the Catholic charity Cafod, which is helping the Kenyan bishops run civic education programmes ahead of elections on 4 March.