Intentional or not is hard to say and Kimo is the only one that can. Personally I don't think he meant to injure Palmer.
My biggest beef is that there was no flag.
As CrackerJack stated...
One thing that has never been brought up is that it is illegal in the NFL to intentionally hit a QB at the knees or legs - or something of the sort.
When Thurman was tripped into Big Ben in the previous game it was flagged, every other incident of hitting someone in the knees in the recent NFL has been flagged. Why not this one?