Kimberley defeated Shushila Likmabam from India in her final in the -48kg weight category.
Renicks stopped the contest with an ippon decision less than 90 seconds into the final.
The 26-year-old had qualified in the final with two stoppages in the morning session in Hall 3 of the SECC. It emulated the success of Graeme Randall who took gold the last time judo was contested at the 2002 Games in Manchester.
Less than an hour after Kimberley had triumphed, elder sibling Louise was similarly successful, defeating England's Kelly Edwards in the final of the -52kg event.
Both women were cautioned by the referee for various infringements, which now include leaving the yellow combat zone.
The bout was concluded in contentious fashion. With just three seconds remaining, no points on the board and both judokas on three yellow cards apiece, the fight seemed destined to move into a sudden-death golden score period. Edwards, though, was penalised one last time, handing the title to a delighted Renicks. They were watched on by father Thomas, founder and sensei at the Kanokwai Judo Club in Strathclyde.
Kimberley Renicks said: "It is absolutely brilliant. It is what I had been hoping for and what I have wanted for the last two years.The crowd have been behind all of us and it has been a great start to the Commonwealth Games.
"I could not have done it without Team Scotland and Judo Scotland, all of the fans, the family who have supported me all the way.
"If they had not put the effort in to get me to all of these places, I would not have been here today."
She added: "It has been really tough, because I was against girls I had never fought before, so you don't know how they are going to be.
"In judo you can win in the first 10 seconds or last four minutes, and I happened to win my fights pretty fast, which was good."
Scotland judo fans were also on their feet as veteran John Buchanan won bronze.
The 39-year-old Edinburgh Sportif Judo coach came out of a decade-long retirement to fight in Glasgow, and his endeavour was rewarded as he defeated beaten semi-finalist Daniel Le Grange of South Africa with an ippon score, given on video review - and promptly did a full back-flip on the tatami mat in celebration. Buchanan had come out of retirement to fight in Glasgow and celebrated his achievement with a backwards somersault.
Stephanie Inglis lost out to England's Nekoda Davis in the under-57kg event, but the Scot still came away with a silver.
Scotland collected another bronze medal when James Millar - a late call-up as a replacement for the injured 100kg judoka James Austin - defeated Mathews Bpunza of Zambia with a late ippon throw.
There was more home success for Scotland as Glasgow fighter Connie Ramsay, a defeated quarter-finalist earlier on Thursday, secured bronze when she pinned down Cameroon fighter Paule Sitcheping.