He now remains behind bars in a Cook County jail and will stay there unless he can come up with the amount owed which is $161,633, according to TMZ Friday.
"I promise we're gonna straighten all this out", Kelly said.
Kelly, 52, was taken into custody Wednesday after failing to the pay child support to his ex-wife.
R. Kelly has been a target of a boycott campaign, and his recording contract has been cancelled.
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After Kelly departed Saturday, his attorney, Steve Greenberg, who walked out with him, decried news coverage of his client and what he called "the pitchfork justice that's going on around here".
Sophie Ansari, a spokeswoman for the Cook County Sheriff's Department, which operates the jail, said the money was posted Saturday morning, but she did not know by whom.
Greenberg declined to say how much Kelly posted Saturday to walk out of jail. "I love my fans", TMZ quoted Kelly as saying after he left the jail where screaming admirers waited for him. The singer also believes that Andrea is the reason why he owes so much in unpaid child support. He initially said he only said that had a third of the money, but a judge refused to allow him to pay in parts.
Sources connected to the embattled singer tell us Kelly hasn't covered the $161,633 he owes to his ex-wife, Drea Kelly, and his deadline is today ... On February 22, he was arrested and charged with 10 counts of aggravated sexual abuse involving four women, three of whom were under the age of 18 at the time of the alleged abuse. The singer has pleaded not guilty to the charges. How can I get paid?
Greenberg recently said Kelly has been struggling financially and the spent three days in jail after his arrest last month before he was able to raise the $100,000 required to secure his release on $1 million bail. "I made mistakes, but I'm not a devil".