Detecting the emergence of abrupt property changes in time series is a challenging problem. Kernel two-sample test has been studied for this task which makes fewer assumptions on the distributions than traditional parametric approaches. However, selecting kernels is nontrivial in practice. Although kernel selection for two-sample test has been studied, the insufficient samples in change point detection problem hinders the success of those developed kernel selection algorithms. In this paper, we propose KL-CPD, a novel kernel learning framework for time series CPD that optimizes a lower bound of test power via an auxiliary generative model. With deep kernel parameterization, KL-CPD endows kernel two-sample test with the data-driven kernel to detect different types of change-points in real-world applications. The proposed approach significantly outperformed other state-of-the-art methods in our comparative evaluation of benchmark datasets and simulation studies. Detecting changes in the temporal evolution of a system (biological, physical, mechanical, etc.) in time series analysis has attracted considerable attention in machine learning and data mining for decades (Basseville et al., 1993; Brodsky & Darkhovsky, 2013). This task, commonly referred to as change-point detection (CPD) or anomaly detection in the literature, aims to predict significant changing points in a temporal sequence of observations.