The R&B singer, 52, was freed after posting $100,000 (£76,000) bail following three days behind bars. 

He had earlier pleaded not guilty in court to 10 charges of aggravated criminal sexual abuse against four women, three of whom were underage.

R Kelly

Charged under his real name of Robert Sylvester Kelly, was ushered into a waiting vehicle after his release.

Fans later greeted him at a McDonald’s in Chicago, where he reportedly ordered a quarter pounder and chips with a soft drink and a coffee.

The musician, who was tried and acquitted of child pornography charges in 2008, is facing the allegations following the airing of TV documentary Surviving R Kelly.

R Kelly

The show included new accusations made by several, including his ex-wife, dating back to 1998.

Kelly’s lawyer Steven Greenberg insisted the singer was innocent. His next court appearance will be on March 22.