Active plasma resonance spectroscopy (APRS) refers to a class of plasma diagnostic methods that use the ability of plasma to resonate at or near the electron plasma frequency for diagnostic purposes. The planar multipole resonance probe (pMRP) is an optimized realization of APRS.It has a non-invasive structure and allows simultaneous measurement of electron density, electron temperature, and electron-neutral collision frequency. Previous work has investigated the pMRP through the Drude model and collision-less kinetic model. The Drude model misses important kinetic effects such as collision-less kinetic damping. The collision-less kinetic model is able to capture pure kinetic effects. However, it is only applicable to the low-pressure plasma. To further study the behavior of the pMRP, we develop a collisional kinetic model in this paper, which applies to arbitrary pressure. In this model, the kinetic equation is coupled to the Poisson equation under the electrostatic approximation. The real part of the general admittance is calculated to describe the spectral response of the probe-plasma system. Both collision-less kinetic damping and collisional damping appear in the spectrum. This model provides a possibility to calculate the electron density, electron temperature, and electron-neutral collision frequency from the measurements.