Knowledge-aware recommendation systems have shown superior performance by connecting user item interaction graph (UIG) with knowledge graph (KG) and enriching semantic connections collected by the corresponding networks. Among the existing methods, self-supervised learning has attracted the most attention for its significant effects in extracting node self-discrimination auxiliary supervision, which can largely improve the recommending rationality. However, existing methods usually employ a single (either node or edge) perspective for representation learning, over-emphasizing the pair-wise topology structure in the graph, thus overlooking the important semantic information among neighborhood-wise connection, limiting the recommendation performance. To solve the problem, we propose Hierarchical self-supervised learning for Knowledge-aware Recommendation (HKRec). The hierarchical property of the method is shown in two perspectives. First, to better reveal the knowledge graph semantic relations, we design a Triple-Graph Masked Autoencoder (T-GMAE) to force the network to estimate the masked node features, node connections, and node degrees. Second, to better align the user-item recommendation knowledge with the common knowledge, we conduct contrastive learning in a hybrid way, i.e., both neighborhood-level and edge-level dropout are adopted in a parallel way to allow more comprehensive information distillation. We conduct an in-depth experimental evaluation on three real-world datasets, comparing our proposed HKRec with state-of-the-art baseline models to demonstrate its effectiveness and superiority. Respectively, Recall@20 and NDCG@20 improved by 2.2% to 24.95% and 3.38% to 22.32% in the Last-FM dataset, by 7.0% to 23.82% and 5.7% to 39.66% in the MIND dataset, and by 1.76% to 34.73% and 1.62% to 35.13% in the Alibaba-iFashion dataset.