The fundamental conflict between the enormous space of adaptive streaming videos and the limited capacity for subjective experiment casts significant challenges to objective Quality-of-Experience (QoE) prediction. Existing objective QoE models exhibit complex functional form, failing to generalize well in diverse streaming environments. In this study, we propose an objective QoE model namely knowledge-driven streaming quality index (KSQI) to integrate prior knowledge on the human visual system and human annotated data in a principled way. By analyzing the subjective characteristics towards streaming videos from a corpus of subjective studies, we show that a family of QoE functions lies in a convex set. Using a variant of projected gradient descent, we optimize the objective QoE model over a database of training videos. The proposed KSQI demonstrates strong generalizability to diverse streaming environments, evident by state-of-the-art performance on four publicly available benchmark datasets.