R Kelly has been released from jail in Chicago after paying the $161,000 he owed in child support.

The R&B singer was taken into custody following a child support hearing in Chicago, Illinois on Wednesday (March 6).

The Cook County sheriff's office said the money was paid on Saturday morning and Kelly was freed shortly afterwards. It is not clear who made the singer's payment.

According to American TV channel CNN, Kelly briefly addressed reporters outside the jail, saying: "I promise you, we're going to straighten all this stuff out. That's all I can say right now. I promise you."

Last month, the embattled musician was charged with 10 counts of aggravated criminal sexual abuse, some involving underage victims, following years of allegations of sexual abuse from women and underage girls.

He pleaded not guilty to all the charges and was released on bail after spending three nights in jail. If convicted, he faces three to seven years in prison for each crime.

R Kelly pictured on March 6

Kelly has consistently denied any allegations of abusing of women or being sexually involved with underage girls. Recently, the Surviving R Kelly documentary series renewed attention on decades of accusations against the performer, including child pornography, sex with minors, operating a sex cult and sexual battery.

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. This is not me," adding that he is "fighting for my f****** life".

During the tense interview, Kelly claimed that the allegations that he has sexually, emotionally and physically abused women and girls for decades are "stupid", "not true" and "not fair".

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His next court date is set for 22 March.