Sophia Ansari, a spokeswoman for the Cook County Sheriff's Department, which operates the jail, said that she expected Kelly's release would come early Saturday afternoon. She said the money was posted sometime Saturday morning. She did not immediately know who posted the money.
While exiting the Cook County facility Saturday afternoon, Kelly told reporters that he planned to "straighten all of this out, that's all I can say right now."
Kelly was ordered taken into custody on Wednesday by a judge after he said that he did not have the entire $161,000 he owed in child support.
His attorney and publicist told a similar story this week before and after the hearing in which the judge ordered Kelly into custody, with the publicist telling reporters that Kelly was prepared to pay $50,000 to $60,000 on Wednesday but was not able to pay the entire amount.
That trip to jail was Kelly's second in a matter of weeks.
Last month, after he was charged with 10 counts of aggravated sexual abuse pertaining to four women, including three who were minors when the alleged abuse occurred, he was taken to the same jail. Kelly, whose attorney said at the time that the singer's finances were in disarray, then spent a weekend in jail before a 47-year-old suburban Chicago business owner posted his $100,000 bail.
Kelly has repeatedly denied any wrongdoing and pleaded not guilty to the charges.
In a fiery interview on "CBS This Morning," Kelly insisted that all of his accusers were lying about him, and that people had stolen money from his accounts.
Though accusations of sexual misconduct, child pornography, and relationships with underage girls have followed the singer for decades, the premiere of the Lifetime documentary series "Surviving R. Kelly" last month revived the allegations.
Associate Press reporting by Don Babwin.
