We calculate asymmetric neutrino absorption and scattering cross sections on hot and dense magnetized neutron star matter, including hyperons in fully relativistic mean-field theory. The absorption/scattering cross sections are suppressed/enhanced incoherently in the direction of the magnetic field B = B (z) over cap. The asymmetry is 2-4% at the matter density rho(0) <= rho(B) <= 3 rho(0) and temperature T <= 40 MeV for B = 2 x 10(17) G. This asymmetry is comparable to the effects owing to parity violation or asymmetric magnetic field topology proposed for the origin of pulsar kicks.