The Cook County Sheriff's Office had said he would have to pay the full amount to be freed.
The R&B superstar was taken into custody Wednesday after failing to come up with the $161,000 he owed in payments to his ex-wife and their three children.
Kelly's attorney, Steve Greenberg, said he could not discuss the child support payment because of a judge's gag order in that case.
"I promise you, we're going to straighten all this stuff out".
Last month, Kelly pleaded guilty to sexual assault to three teenage girls and a fourth woman despite having denied similar abuse allegations for years.
R. Kelly has left jail after posting bail, saying, ‘We’re going to straighten all this stuff out’
A Cook County sheriff's spokesperson confirmed that "someone" paid the outstanding amount for him, but that she did not know the person's identity.
R. Kelly has reportedly been released from jail. At the time, his defence attorney said Kelly's finances were "a mess".
This week, an interview between Kelly and Gayle King aired on "CBS This Morning" in which the singer swore he "didn't do this stuff" and said he's "fighting for his life". The controversial crooner has reportedly paid over $160,000 in child support days after getting placed behind bars.
The most charges against Kelly followed the release of a documentary in January called Surviving R. Kelly.
When asked about Kelly's potential investigations out of state, he said, "I have no idea what is going on in Detroit". Court records indicate a 47-year-old Romeoville woman posted his bail, identifying herself on the bond slip as Kelly's "friend". And crazier yet, sources are claiming that Kelly got the influx of cash from a "benefactor" who took pity on him and helped him out.
Regardless, the point is this: R. Kelly isn't even close to being out of legal hot water.
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