"I promise you, we're gonna straighten all this stuff out", Kelly told reporters and a smattering of fans who had gathered outside Cook County Jail.
The singer, who was tried and acquitted on 14 counts involving child pornography in 2008, has denied the new charges.
Although he is free, R. Kelly still faces 10 felony counts of sexual abuse of three minors and another woman who says he forced her to have oral sex against her will.
Kelly's next court date for the child support case is on Wednesday, while a hearing about the sex abuse charges has been set for March 22.
Cook County sheriff's spokeswoman Sophia Ansari said Kelly was released Saturday after someone paid $161,000 in back child support for him.
Greenberg also said he didn't know how the child support will play out, whether or not a judge will reduce the $20,000 a month Kelly paid "religiously" until the allegations against him and ultimately the charges made it impossible to do.
American superstar R Kelly has been released from jail in the city of Chicago in the United States (US) after paying US$161,000 he owed in child support.
It was unclear this time around if Love, a local business owner whose companies have come under attack since she posted the bond, went ahead and paid Kelly's bill once again. "That is all I can say right now", the 52-year-old singer said, before adding, "I love my fans", and dashing off. Cook County prosecutors allege he abused a woman and three girls over the span of 12 years.
It was his second trip to jail in a matter of weeks. "But I'm alive", Kelly told interviewer Gayle King. "[But] they're pressured [not to see him], and I get it".
"I'm not really fighting for my career here - I'm fighting for my rights and I'm fighting to have a relationship with my kids, more than anything, because I missed a lot of years of their life. Use your common sense", he said through sobs and screams, before claiming that "people have been stealing my money".