A bond court judge on Saturday set Kelly's bail at $1 million, requiring the Grammy Award-winning singer to pay 10 percent. Kelly must not have contact with females younger than 18, according to the conditions of his release.
Kelly was booked on Saturday and was initially unable to come up with the $100,000 bail to be released.
The "I Believe I Can Fly" singer was charged in a grand jury indictment unsealed Friday with 10 counts of aggravated sexual abuse involving four victims, three of whom were minors.
Allegations that Kelly violated underage girls and women and held some as virtual slaves have followed the singer for decades. Kelly has repeatedly denied any sexual misconduct, and he was acquitted of child pornography charges in 2008.
Attorney Michael Avenatti, who said he represents two people who have accused Kelly, said his legal team gave prosecutors a second video Monday that shows Kelly sexually abusing a minor. Avenatti previously gave prosecutors video evidence that he said showed Kelly having sex with an underage girl.
"The conduct in the tape can be described as nothing short of outrageous, illegal. It leaves no question as to Mr. Kelly's guilt," Avenatti said.
Kelly's defense attorney, Steve Greenberg, said on Monday that his client has done nothing wrong, and no one has shown him evidence proving otherwise.
"Everybody is entitled to a defense. Everybody is entitled to the presumption of innocence," he said. "We should all be taking a step back. Let's see what happens, what the evidence is and how this plays out."
Kelly's next court date is scheduled for March 22.
The Associated Press contributed to this report.