We study a layered three-dimensional heterostructure in which two types of Kondo insulators are stacked alternatingly. One of them is the topological Kondo insulator SmB 6 , the other one an isostructural Kondo insulator AB 6 , where A is a rare-earth element, e.g., Eu, Yb, or Ce. We find that if the latter orders ferromagnetically, the heterostructure generically becomes a magnetic Weyl Kondo semimetal, while antiferromagnetic order can yield a magnetic Dirac Kondo semimetal. We detail both scenarios with general symmetry considerations as well as concrete tight-binding calcu-lations and show that type-I as well as type-II magnetic Weyl/Dirac Kondo semimetal phases are possible in these heterostructures. Our results demonstrate that Kondo insulator heterostructures are a versatile platform for design of strongly correlated topological semimetals.