Kidney segmentation is a key step in developing any noninvasive computer-aided diagnosis (CAD) system for early detection of acute renal rejection. This paper describes a new 3-D segmentation approach for the kidney from computed tomography (CT) images. The kidney borders are segmented from the surrounding abdominal tissues with a geometric deformable model guided by a special stochastic speed relationship. The latter accounts for a shape prior and appearance features in terms of voxel-wise image intensities and their pair-wise spatial interactions integrated into a two-level joint Markov-Gibbs random field (MGRF) model of the kidney and its background. The segmentation approach was evaluated on 21 CT data sets with available manual expert segmentation. The performance evaluation based on the receiver operating characteristic (ROC) and Dice similarity coefficient (DSC) between manually drawn and automatically segmented contours confirm the robustness and accuracy of the proposed segmentation approach.