Day trip from Osaka to Kyoto and Nara

We are family of 4 (2 adults and 2 children) planning to have a 1day trip from Osaka to Kyoto and Nara in Jan1st week 2019. I only want to visit Kiyomizudera temple, Kinkakuji Temple and Nara park. Is it possible to cover all these 3 places in 1day?

Thxs
Jackie.

If you start early and travel at a relatively fast pace, it is possible. However, with a late start and/or a slow pace it is not possible.

planning to have a 1day trip from Osaka to Kyoto and Nara in Jan1st week 2019

Depending on dates, you may be caught in crowds of New Year celebrants at some popular temples or shrines and their vicinities.

I only want to visit Kiyomizudera temple, Kinkakuji Temple and Nara park.

These two temples in Kyoto City are apart from each other.
It sounds better to consider also possible congestion of the road traffic.

What spots in the wide Nara Park do you hope to visit?

It would be rushed. Osaka to Kinkajuki is around 90 minutes travel w/ multiple transfers. Kinkajuki to Kiyomisudera is around 60 minutes w/ multiple transfers. And then onto Nara would be around 60 minutes w/ one transfer. Around 60 minutes to return to Osaka w/ one transfer. (All these times dont include transfers from subways etc inside Osaka depending on your accommodation location).

If you started at nine, and finished at five. You'd only have 4.5 hrs total for sightseeing and lunch. Kinkajuki doesn't open until 10am, so you cannot really start early as suggested. But you might be able to squeeze another hours or so out of Nara if you are happy to return to Osaka in the dark.

Kinkajuki only needs around 45 minutes for viewing and walking the grounds. Kiyomizudera needs around 90 minutes, another 90 if you wanna view the streets of Higashiyama. And Nara can be an all day affair to multiple days.

Up to you how you do it, but I thin it is one too many locations for one day. I don't think you'll find anyone recommonding only allowing two hours for Nara for example.

I'm sure you have your reasons to want to visit Kinkakuji and Kiyomizudera. But if you are contented with seeing old and historical temples/shrines, Nara has them too so you don't have to go to Kyoto. And they are all within the same area within walking distance of Nara Park, so you can spend the whole day visiting historical temples and feed deer at the same time.

Todaiji temple with the Great Buddha statue: https://www.japan-guide.com/e/e4100.html
Kasuga Taisha shrine, the "lantern shrine": https://www.japan-guide.com/e/e4102.html
Kofukuji temple with 5-story pagoda: https://www.japan-guide.com/e/e4101.html
Deer: they can be found in all above 3 places.

Just a suggestion for a more relaxed day trip from Osaka.

It's certainly possible - Kinkakuji you can be through in about 30 minutes without rushing - there just isn't that much beyond looking at the pavilion (which you can't go inside, by the way). Kiyomizudera might take you about 90 minutes, but it depends on your pace and how much surrounding it you want to see (souvenir hunting, walking through Higashiyama if you want, etc). Nara Park can be seen in around half a day.
The real issue is getting around. Osaka to Kyoto is only 30 minutes. Kyoto to Nara is about 45 minutes. Nara back to Osaka is a non-issue unless you want to see someplace closing around 5 PM in Osaka. If you really have your hearts set on those places, then you might consider going by taxi - there are 4 of you, so the costs per person are cut down and taxis are the most efficient way to get around to the places you mention. If you start in the morning and are willing to loosen the purse strings a bit, you can do it.

Just to clarify, I mean taxi within Kyoto.

Hi Everyone,
Base on all of your input, we have decided to stay another day in Osaka so we will do a day trip to Kyoto and another day to Nara. Thank you so much for the quick and excellent advice.

Regards,
Jackie.