In this paper, we calculate the scattering parameters for collision between potassium and cesium atoms at ultracold temperatures, such as s-wave scattering length, effective range and p-wave scattering length, by the quantum method and semiclassical method, respectively. The singlet and the triplet elastic scattering cross sections between 39K and Cs atoms at ultracold temperatures are dominated by s-wave scattering, and shape resonance occurs with the increase of collision energy. There exist pronounced g-wave and d-wave shape resonances for the singlet and the triplet cross sections, respectively. In addition, s-wave scattering lengths are calculated by using the degenerate internet state approximation for selected hyperfine states of 41KCs.