It's unclear who has paid his bond this time around.
The charges involves four alleged victims, three of which are minors.
The musician faces several sex abuse charges
Kelly was wearing a gray hooded sweatshirt under a bright red winter coat when he walked out of the jail at 26th Street and California Avenue with defense attorney Steve Greenberg just before noon, about an hour after he was able to put together the hefty sum of money.
The singer was taken into custody during a hearing over the child support on Wednesday.More news: It's 'Captain Marvel' vs. the trolls on Rotten Tomatoes
Kelly has denied any wrongdoing and has pleaded not guilty to the charges.
Attorney Michael Avenatti tweeted Saturday that he's found new evidence that Kelly "and his handlers transported underage girls across state lines for the goal of allowing him to sexually assault them".
"We're really not supposed to talk about that", the lawyer told reporters. "We haven't seen a videotape", he said.More news: Venezuela expels German ambassador as crisis continues
"When we get those things, we're going to fight this case like we fight any other case, in the courtroom, based on the evidence", he said.
This is Kelly's second three night stay in jail in three weeks. Kelly has said that despite the millions of records he has sold during his decades-long career, his income tanked since the "Surviving R. Kelly" documentary series aired in January.
Greenberg also said he didn't know how the child support will play out, whether or not a judge will reduce the $20,000 a month Kelly paid "religiously" until the allegations against him and ultimately the charges made it impossible to do.More news: Tesla's new Supercharger V3 cuts charge times in half
In the case of alleged sexual abuse, Kelly was jailed on February 22 and released three days later after posting $100,000 bail.