The singer had been prepared to pay up to $60,000 of what he owed to his former wife, Andrea Kelly, and their three children, but the judge had required the full amount and ordered him detained.
Kelly, 52, was charged last month with 10 counts of aggravated sexual abuse pertaining to four women, including three who were minors when the alleged abuse occurred.
A federal investigation has also been launched over several new sex tapes which allegedly feature R. Kelly having sex with girls as young as 14-years-old.
It was not immediately clear who posted money on Kelly's behalf Saturday.
The singer promised to "straighten" everything out, as one fan flirted with the singer, while another yelled out "Hallelujah" after R. Kelly spoke. "Hate me if you want to, love me if you want".
R. Kelly hasn't reached out to his kids since 2017 despite telling Gayle King that he is trying to build a relationship with his children.
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.
In a recent appearance on "CBS This Morning", Kelly broke down and said he was "fighting for his f-king life" in an interview about the sexual abuse charges.
Kelly and his attorney have vehemently denied the charges. Quit playing! I didn't do this stuff!
R. Kelly's jail booking photo over failing to pay child support. I'm not Lucifer. I'm a man. "I made mistakes, but I'm not a devil".