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The basic idea behind a key for a vehicle is to keep an unauthorized person from using your car to go somewhere else - probably further away from you than you would like your transportation to be.

I would think that this would be true for spacecraft as well - I certainly wouldn't want someone stealing my Saturn V rocket!

However, it seems that there is much more required to launch these space vehicles. Has the system of a key ever been used on a spacecraft for security?

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This is the Soyuz-27 start key:This is the Soyuz start key

And this is the keyhole: This is the keyhole

Soyuz rocket is nee ICBM R-7. And that is exactly the ICBM key.

This is all happening in a bunker. The shooter gives a series of commands before the final countdown. One of them is "key to start". It initiates the automated starting sequence.

The tradition prescripts to give the key to the cosmonauts after they return.

This recording of Yuri Gagarin radio communication with ground control @00:26 gives an example of "key to start" command. It is translated as "ignition key to starting position" in the subs.