The Cook County sheriff's office said the money was paid on Saturday morning and Kelly was freed shortly afterwards. Cook County Sheriff's Office spokeswoman Sophia Ansari said a payment was made Saturday morning.
He pleaded not guilty to all the charges and was released on bail after being jailed for three nights. She did not immediately know who posted the money.
It was his second trip to jail in a matter of weeks and the second time a person had stepped up with money to get Kelly out of jail.
An interview with Andrea Kelly is prominently featured in "Surviving R. Kelly", and the dancer also has produced her own video about her marriage to the singer. It is not clear who made the singer's payment.
Kelly, one of the best-selling musical artists of all time, has been dogged for decades by allegations that he violated underage girls and women and held some as virtual slaves.
The indictment accuses Kelly of sexual acts with three children older than 13 but younger than 17.
"We're really not supposed to talk about that, but the man was paying $20,000 a month in child support", Greenberg said.
Valencia Patrice Love, of Romeoville, has described herself as a friend of Kelly and a fan of his music.
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.
Greenberg said the judge entered a gag order in the case, and that Kelly's divorce lawyer would be in domestic relations court with the singer on Wednesday.
'Quit playing, I didn't do this stuff, ' the pop singer tearfully told Gayle King of CBS News on Tuesday. I'm fighting for my f-ing life! Genson said. "I don't think he's done anything inappropriate for years. Y'all killing me with this s-!" I'm trying to have a relationship with my kids!