<?xml version="1.0"?>
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    <periodOfReport>2021-03-03</periodOfReport>

    <notSubjectToSection16>0</notSubjectToSection16>

    <issuer>
        <issuerCik>0001664710</issuerCik>
        <issuerName>Keros Therapeutics, Inc.</issuerName>
        <issuerTradingSymbol>KROS</issuerTradingSymbol>
    </issuer>

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            <rptOwnerCik>0001808365</rptOwnerCik>
            <rptOwnerName>Knowles Julius</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>C/O KEROS THERAPEUTICS, INC.</rptOwnerStreet1>
            <rptOwnerStreet2>99 HAYDEN AVENUE, SUITE 120, BUILDING E</rptOwnerStreet2>
            <rptOwnerCity>LEXINGTON</rptOwnerCity>
            <rptOwnerState>MA</rptOwnerState>
            <rptOwnerZipCode>02421</rptOwnerZipCode>
            <rptOwnerStateDescription></rptOwnerStateDescription>
        </reportingOwnerAddress>
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            <isOfficer>0</isOfficer>
            <isTenPercentOwner>0</isTenPercentOwner>
            <isOther>0</isOther>
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            <transactionTimeliness>
                <value></value>
            </transactionTimeliness>
            <transactionAmounts>
                <transactionShares>
                    <value>126</value>
                </transactionShares>
                <transactionPricePerShare>
                    <value>58.03</value>
                    <footnoteId id="F12"/>
                </transactionPricePerShare>
                <transactionAcquiredDisposedCode>
                    <value>D</value>
                </transactionAcquiredDisposedCode>
            </transactionAmounts>
            <postTransactionAmounts>
                <sharesOwnedFollowingTransaction>
                    <value>420825</value>
                </sharesOwnedFollowingTransaction>
            </postTransactionAmounts>
            <ownershipNature>
                <directOrIndirectOwnership>
                    <value>I</value>
                </directOrIndirectOwnership>
                <natureOfOwnership>
                    <value>See footnote</value>
                    <footnoteId id="F4"/>
                </natureOfOwnership>
            </ownershipNature>
        </nonDerivativeTransaction>
    </nonDerivativeTable>

    <footnotes>
        <footnote id="F1">The sales reported in this Form 4 were effected pursuant to a Rule 10b5-1 trading plan.</footnote>
        <footnote id="F2">The price reported in Column 4 is a weighted average price. These shares were sold in multiple transactions at prices ranging from $55.39 to
$56.32 inclusive. The Reporting Person undertakes to provide to the Issuer, any security holder of the Issuer, or the staff of the Securities and
Exchange Commission, upon request, full information regarding the number of shares sold at each separate price within the ranges set forth in
footnotes (2), (5), (6), (7), (8), (9), (10), (11) and (12).</footnote>
        <footnote id="F3">The securities are held by Partners Innovation Fund, LLC (&quot;PIF I&quot;). Partners Innovation Fund, LLC (&quot;Partners GP I&quot;) is the ultimate general
partner of PIF I. The Reporting Person, a member of the board of directors of the Issuer, is a partner of Partners GP I and as a result, may be
deemed to share voting and investment power with respect to the shares held by PIF I.</footnote>
        <footnote id="F4">The securities are held by Partners Innovation Fund II, L.P. (&quot;PIF II&quot;). Partners Innovation Fund II, LLC (&quot;Partners GP II&quot;) is the ultimate general
partner of PIF II. The Reporting Person, a member of the board of directors of the Issuer, is a partner of Partners GP II and as a result, may be
deemed to share voting and investment power with respect to the shares held by PIF II.</footnote>
        <footnote id="F5">The price reported in Column 4 is a weighted average price. These shares were sold in multiple transactions at prices ranging from $56.41 to
$57.40 inclusive.</footnote>
        <footnote id="F6">The price reported in Column 4 is a weighted average price. These shares were sold in multiple transactions at prices ranging from $57.42 to
$58.38 inclusive.</footnote>
        <footnote id="F7">The price reported in Column 4 is a weighted average price. These shares were sold in multiple transactions at prices ranging from $58.46 to
$59.19 inclusive.</footnote>
        <footnote id="F8">The price reported in Column 4 is a weighted average price. These shares were sold in multiple transactions at prices ranging from $53.76 to $54.72 inclusive.</footnote>
        <footnote id="F9">The price reported in Column 4 is a weighted average price. These shares were sold in multiple transactions at prices ranging from $54.76 to $55.75 inclusive.</footnote>
        <footnote id="F10">The price reported in Column 4 is a weighted average price. These shares were sold in multiple transactions at prices ranging from $55.77 to $56.75 inclusive.</footnote>
        <footnote id="F11">The price reported in Column 4 is a weighted average price. These shares were sold in multiple transactions at prices ranging from $56.80 to $57.59 inclusive.</footnote>
        <footnote id="F12">The price reported in Column 4 is a weighted average price. These shares were sold in multiple transactions at prices ranging from $57.86 to $58.18 inclusive.</footnote>
    </footnotes>

    <remarks></remarks>

    <ownerSignature>
        <signatureName>/s/ Keith Regnante, Attorney-in-Fact</signatureName>
        <signatureDate>2021-03-05</signatureDate>
    </ownerSignature>
</ownershipDocument>
