The truncated matrix-valued K-moment problem on R d , C d , and T d will be considered. The truncated matrix-valued K-moment problem on R d requires necessary and sufficient conditions for a multisequence of Hermitian matrices {S γ } γ∈Γ (where Γ is a finite subset of N d 0) to be the corresponding moments of a positive Hermitian matrix-valued Borel measure σ, and also the support of σ must be contained in some given non-empty set K ⊆ R d , i.e., (0.1) S γ = R d ξ γ dσ(ξ), for all γ ∈ Γ, and (0.2) supp σ ⊆ K. Given a non-empty set K ⊆ R d and a finite multisequence, indexed by a certain family of finite subsets of N d 0 , of Hermitian matrices we obtain necessary and sufficient conditions for the existence of a minimal finitely atomic measure which satisfies (0.1) and (0.2). In particular, our result can handle the case when Γ = {γ ∈ N d 0 : 0 ≤ |γ| ≤ 2n + 1}. We will also discuss a similar result in the multivariable complex and polytorus setting.