Soliton hydrodynamics is an appealing tool to describe strong turbulence in low-dimensional systems. Strong turbulence in quasi-one dimensional spuerfluids, such as Bose-Einstein condensates, involves the dynamics of dark solitons and, therefore, the description of a statistical ensemble of dark-solitons, i.e. soliton gases, is necessary. In this work, we propose a phase-space (kinetic) description of dark-soliton gases, introducing a kinetic equation that is formally similar to the Vlasov equation in plasma physics. We show that the proposed kinetic theory can capture the dynamical features of soliton gases and show that it sustains an acoustic mode, a fact that we corroborate with the help of direct numerical simulations. Our findings motivate the investigation of the microscopic structure of out-of-equilibrium and turbulent regimes in low-dimensional superfluids.