Cook County Sheriff's Office spokeswoman Sophia Ansari said Monday that Kelly posted his $100,000 bail after spending the weekend in jail.
It was reported over the weekend that Kelly's bond had been set at $1 million. He pleaded not guilty to the charges Monday.
Social media users say it's a popular spot for teens and underage kids to hang out - and Kelly was apparently known to visit regularly over the years.
Martinez said it is "irresponsible" for Kelly's lawyer, Steve Greenberg, to call Kelly's accusers liars.
Kelly has denied the charges and maintained his innocence.
"If your friend was in trouble, wouldn't you bail them out?" she said.
Among the conditions of Kelly's release is that the 52-year-old artist have no contact with females younger than 18.
Allred also said Kelly's accusers have been subjected to abuse by the singer's fans.
Greenberg reiterated at a news conference that Kelly has done nothing wrong and said no one has shown him any evidence to the contrary.
The walls began closing in on Kelly after the release of a BBC documentary about him past year and the multipart Lifetime documentary "Surviving R. Kelly", which aired last month.
Attorney Michael Avenatti submitted a second sex tape to the Chicago prosecutors that allegedly shows Kelly sexually interacting with a 14-year-old girl.
The attorney says he has learned of a third tape but did not provide details about it. "There are a total of four alleged victims".
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R. Kelly is scheduled to appear to court again on March 12.
The court ordered Kelly to make a monthly payment of $20,833 on January 8, 2009, but Kelly failed to show up to that hearing, the documents state.
In the days before Kelly's arrest, there were rumors that authorities had possession of a new tape showing the singer performing illegal sexual activities with an underage girl.
By Monday evening, the campaigns in support of Kelly appeared to have been removed.
He surrendered to the authorities later that day and is now still in police custody, having failed to gather the $100,000 needed to cover bail.
The second video is about 55 minutes long and from 1999 or 2000, Avenatti has said.
After R. Kelly left jail on Monday night he went straight to a McDonald's in Chicago's River North neighborhood, where he allegedly met a high school girl on her prom night in 1998 who he later impregnated and forced to have an abortion.The claims were detailed in a 2002 lawsuit that the embattled R&B singer settled out of court. He also states "He doesn't have it sitting in the bank" on behalf of R. Kelly. Kelly is expected to attend. The Grammy Award-winning singer is required to pay 10 per cent, and his lawyer said Kelly's confidants are trying to pay $US100,000 to get him released as he awaits trial.
This particular location is a notorious teen hangout where R. Kelly is alleged to have picked up young girls.
R. Kelly is one of the best-selling music artists of all time. To leave, he had to pay 10% of the total bond but he has failed to raise the money despite his lawyer's satisfaction with the bond.
The famous R&B singer has entered a plea of not guilty ahead of his trial.
One of Kelly's former studio engineers appeared in BBC's documentary "R Kelly: Sex, Girls and Videotapes" previous year and recalled that Kelly would specifically visit McDonald's to pick up girls and bring them back to the studio. Both Kelly and the girl denied they were the ones depicted in the video, and Kelly was not charged with assault.
Kelly has hit songs like "I Believe I Can Fly", "Ignition (Remix)" and more.