Lady Gaga has apologised for a 2013 musical collaboration with R&B star R. Kelly - who has been accused of sexual and physical abuse against women and underage girls - and said she plans to pull the song from circulation. Kelly has denied all the allegations.

"I'm sorry, both for my poor judgment when I was young, and for not speaking out sooner," Lady Gaga posted on Twitter.

"I intend to remove this song off of iTunes and other streaming platforms and will not be working with him again," she added.

R. Kelly denies any wrongdoing

The AFP news agency reports that the release - titled Do What U Want (With My Body) - features R. Kelly, who denies any wrongdoing, singing explicit lyrics.

Gaga's post drew praise on Twitter, with fans tweeting messages of support such as "We all stand by you! I love you!" and "You did not owe anyone an explanation Gaga. You are a beautiful person, with a beautiful soul that has saved and inspired so many people."

Gaga's apology comes amid renewed attention on allegations against Kelly, which were highlighted in a six-hour documentary series about the singer.

In the Lifetime cable network show titled Surviving R. Kelly, which premiered earlier this month, back-up singers alleged sexual relations between the star and three girls under the age of 16, including the singer Aaliyah when she was aged 15. Aaliyah died in a 2001 plane crash at the age of 22.

Gaga at this year's Golden Globes 

The allegations against the 51-year-old singer, best known for his hit I Believe I Can Fly, are subject to criminal prosecution in several US states including Illinois, where Kelly lived as a resident of Chicago.

In May of last year, the online streaming platform Spotify removed the artist's music from its playlists after the Time's Up movement for gender equality urged the music industry to dump him over persistent sex abuse allegations.

But the service ultimately backtracked on a policy that reduced exposure for artists accused of personal misconduct, after criticism that the leading streaming platform was hurting musicians on flimsy evidence.

Kelly pushed back against the allegations in a 19-minute song, I Admit, released last year, in which he said he was himself abused at age 14. On the track he vented frustration over the stream of allegations against him.

"I never thought it would come to this, to be the most disrespected artist," Kelly sang.

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