Recent advancements have significantly enhanced our grasp of interplanetary coronal mass ejections (ICMEs) in the heliosphere. These observations have uncovered complex kinematics and structural deformations in ICMEs, hinting at the possible generation of magnetohydrodynamic (MHD) and kinetic-scale waves. While MHD-scale waves in magnetic clouds have been explored, understanding the dynamics of kinetic-scale mode waves remains challenging. This article demonstrates the first in situ observation of kinetic Alfvén waves (KAWs) within an ICME’s magnetic cloud, notably near the heliospheric current sheet–ICME interaction region, close to the reconnection exhaust. Analysis indicates a distinctive negative bump in the estimated normalized magnetic helicity (σ
m
= −0.38) around the gyrofrequency spread, indicating a right-handed polarization of the wave. Furthermore, examination across flow angle (θ
VB) within the frequency domain reveals a specific zone (90°–135°) showcasing negative helicity fluctuations, confirming the presence of KAWs. Moreover, we noted a significant rise in temperature anisotropy in the vicinity, indicating the role of KAWs in plasma heating. Identifying KAW challenges established notions about ordered magnetic clouds and raises questions about energy transfer processes within these structures. This finding opens the door to a deeper understanding of energy transfer mechanisms within traditionally nondissipative regions and invites further exploration of low-beta plasma heating and the interactions between waves and particles in magnetic clouds.