Kelly, best known for his hit single "I Believe I Can Fly", had been confined to a prison hospital ward to keep him apart from the general inmate population, his lawyer said.
The fourth and final victim was identified as J.P., and the incidents she was involved in led to the final three sexual abuse charges against Kelly.
The R&B singer secured his release by paying 10 percent of his $1 million bail amount. The girl in question asked for his autograph following a court hearing, and Kelly allegedly invited her to his house after finding out her age.
The star's bail had been set at $1 ( Sh 100,100,000 ) million, of which he was required to pay 10 per cent.
Attorney Michael Avenatti, who said he represents two of Kelly's accusers, said his team gave prosecutors a second video Monday that he alleges shows Kelly sexually abusing a minor.
Kim Foxx - the state's attorney for Cook County, which includes Chicago - told journalists the alleged crimes occurred between 1998 and 2010.
After Kelly's court appearance, Michael Avenatti, an attorney representing one of the victims, said he has uncovered a new 55-minute video of Kelly having sex with a 14-year-old girl.
R. Kelly's lawyer Steve Greenberd adds that "He's trying to get it together,". She said the only person lying is Kelly and that he has done so "for more than 20 years". His lawyer told CNN that Kelly "does not have to pay the child support before getting out". Nine of the 10 counts involve alleged victims ranging from 13 to 16 years old.
If released, Kelly is forbidden from having any contact with females younger than 18.
There are multiple logistical issues that could have thwarted Kelly's efforts to pay over the weekend, said Joseph Lopez, a criminal defense attorney in Chicago not connected to the Kelly case. In any case, it's possible that that those child support payments are the very last thing on Kelly's mind at the moment, since he's reportedly facing as much as 70 years in prison if convicted on all charges.
Previously, Greenberg claimed his client denies any wrongdoing.
New evidence has surfaced against R. Kelly including a video where he was caught during the act of the abuse and a t-shirt submitted by one of the victims containing Kelly's DNA.
At Kelly's bond hearing Saturday, prosecutors alleged that Kelly tried to force oral sex on his 24-year-old hairdresser in 2003 while he was free on bond on the then-pending child pornography charges.