The 52-year-old R&B singer left the courtroom with his legal team through a different door than he entered, but his hands weren't cuffed. Cook County Sheriff's Office spokeswoman Sophia Ansari told The Associated Press that Kelly was detained and would be transferred to the county jail.
Kelly, according to the spokesperon, won't be released from jail until he pays $161,000 in back child support.
Kelly was detained just over a week after he pleaded not guilty to 10 counts of aggravated sexual abuse. He posted bail on Feb. 25 and was released from jail.
The singer is charged with having sexually abused four women years ago, including three who were underage at the time.
Hours before he was taken into custody, Kelly lashed out at CBS' News Gayle King in an interview with "CBS This Morning" that aired on Wednesday. Kelly swore he "didn't do this stuff" and said he's "fighting for his life."
"I'm very tired of all of the um, lies, I've been hearing things and seeing things on the blogs, and I'm just tired," he said in the interview, and added that the lies that bother him the most included "that little girls trapped in a basement, helicopters over my house, trying to rescue someone who doesn't need to be rescued because they're not in my house."
"[I did] lots of things wrong when it comes to women but I apologized in those relationships," Kelly said. He adamantly denied breaking any laws where women are concerned.
"Everybody says something bad about me. Nobody said something good. They was describing Lucifer. I'm not Lucifer. I'm a man. I made mistakes, but I'm not a devil."
Kelly was charged in a grand jury indictment that was unsealed on Feb. 22. He was booked and a bond court judge set the singer's bond at $1 million, requiring Kelly to pay 10 percent.
Kelly — who must not have contact with females younger than 18, according to the conditions of his release — initially was unable to come up with the $100,000 bail and spent the weekend in a Chicago jail, before someone else posted it on his behalf.
The singer's next hearing is scheduled for March 13.
Fox News' Jessica Sager and The Associated Press contributed to this report.