Motivated by Kapranov's discovery of an $L_\infty$ algebra structure on the tangent complex of a K\"{a}hler manifold and Chen-Sti\'{e}non-Xu's construction of a Leibniz$_\infty[1]$ algebra associated with a Lie pair, we find a general method to construct Leibniz$_\infty[1]$ algebras ---from a DG derivation $\mathscr{A} \xrightarrow{\delta} \Omega$ of a commutative differential graded algebra $\mathscr{A}$ valued in a DG $\mathscr{A}$-module $\Omega$. We prove that for any $\delta$-connection $\nabla$ on $\mathcal{B}$, the $\A$-dual of $\Omega$, there associates a Leibniz$_\infty[1]$ $\mathscr{A}$-algebra $(\mathcal{B},\{\mathcal{R}^\nabla_k\}_{k\geq 1})$. Moreover, this construction is canonical, i.e.,
the isomorphism class of $(\mathcal{B},\{\mathcal{R}^\nabla_k\}_{k\geq 1})$
only depends on the homotopy class of $\delta$.