He pleaded not guilty and was released after he posted $100,000 of the million bond.
His release from a solo cell and 24/7 observation came after Kelly's reps told reporters that he could afford to pay $50,000 to $60,000 of the support money to his ex, Andrea "Drea" Kelly, but not the full amount.
Kelly faces 10 counts of aggravated sexual abuse for allegedly assaulting four women, three of whom were underage at the time.
What happens in the end credits of 'Captain Marvel'
At this early stage, they and their fellow soldiers look as though Scotty has beamed them up into an old episode of Star Trek. Her mission to outflank them soon has her hurtling through the galaxy to the planet she knows as C-53, and we know as Earth.
"It's open season on R. Kelly", said his attorney, Steve Greenberg, Saturday. "Their mothers and fathers told me, 'We're going to destroy your career'".
Little is known about Kelly's child-support problems because the entire case - originally a divorce filing - was ordered sealed by a judge years ago.
Kelly has consistently denied any allegations of abusing of women or being sexually involved with underage girls. "How can I pay child support? How?"
Also, late past year, Talk show host Wendy Williams echoed the same allegation that the singer still suffers from illiteracy "Robert, it's always been said and he actually did admit this to me, I was shocked he was actually admitting this - because he can't read, he can't write and he can't add", she said.
His court hearing on March 6 took place just hours after he was interviewed by CBS This Morning's Gayle King, during which he mounted a forceful defence, saying: "I didn't do this stuff".
He was at one time quoted saying that "so many people" had access to his bank account and had stolen from him.