The 52-year-old has now been freed on bail after raising the the $100,000 (£76,000) needed.
R Kelly has pleaded not guilty to charges that he sexually abused four people – including three underage girls – following allegations dating back to 1998.
The R&B star, who was arrested on Friday and is facing 10 counts of aggravated sexual abuse, has now been freed on bail, allowing him to leave prison while awaiting trial.
He appeared in court wearing an orange prison jumpsuit after spending the weekend in a Chicago prison, which holds 7,000 inmates.
Bail for Kelly – whose full name is Robert Kelly – was set at $1m (£762,000) on Saturday and the Grammy Award winner was required to pay 10% of that – $100,000 (£76,000) – to be released.
Conditions for his release include no contact with females below the age of 18.
While arguing for a bail amount within the singer’s ability to pay, his lawyer Steve Greenberg said the World’s Greatest singer was not wealthy despite decades of success making hit songs.
The lawyer cited mismanagement and bad contracts among other issues for his financial troubles.
Kelly’s lawyer said the singer was not wealthy despite decades of success making hit songs
Mr Greenberg insisted the I Believe I Can Fly singer was not a flight risk, adding: “Contrary to the song, Mr Kelly doesn’t like to fly.”
Allegations that Kelly violated underage girls and women and held some as virtual slaves have followed the singer for decades. Kelly has repeatedly denied any sexual misconduct, and he was acquitted of child pornography charges in 2008.
Attorney Michael Avenatti, who said he represents two people who have accused Kelly, said his legal team gave prosecutors a second video Monday that shows Kelly sexually abusing a minor. Avenatti previously gave prosecutors video evidence that he said showed Kelly having sex with an underage girl.
“The conduct in the tape can be described as nothing short of outrageous, illegal. It leaves no question as to Mr. Kelly’s guilt,” Avenatti said.
Kelly’s defense attorney, Steve Greenberg, said on Monday that his client has done nothing wrong, and no one has shown him evidence proving otherwise.
“Everybody is entitled to a defense. Everybody is entitled to the presumption of innocence,” he said. “We should all be taking a step back. Let’s see what happens, what the evidence is and how this plays out.”
Kelly’s next court date is scheduled for March 22.
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