According to CNN, the R&B star – real name Robert Kelly – was placed in handcuffs as he entered the police station on Friday night.
Kim Foxx, State Attorney for Cook County, Illinois, announced the charges – which involve four victims – on Friday.
They are said to have taken place between 1998 and 2010 with the BBC reporting that at least three of the victims were aged between 13 and 16 at the time of their alleged assaults.
Foxx did not comment on the charges against the 52-year-old Grammy winner and did not take questions from reporters.
An arrest warrant was issued, leading to Kelly handing himself in – lawyer Steve Greenberg explained that the singer is ‘shell-shocked’ by the allegations.
Greenberg told the Associated Press that his client was ‘extraordinarily disappointed and depressed’ by the charges and maintains his innocence.
He told CNN: “I think all the women are lying. Mr Kelly is strong, he’s got a lot of support and he’s going to be vindicated on all these charges – one by one if it has to be.”
If convicted, Kim Foxx said that Kelly could face a maximum of seven years in prison on each count and a no-bail arrest warrant has been issued.
According to CNN, the new allegations came after attorney Michael Avenatti announced that he had handed a videotape to the State’s Attorney’s Office, which he said showed Kelly having sex with an underage girl.
The lawyer claimed that the 40-minute tape shows him engaging in sexual intercourse and other sexual acts with a girl. He also alleged that both Kelly and the girl reference her age in the tape.
When Mr Greenberg was asked about the tape it was explained that he and his colleagues were unaware of any new information involving his client, adding: “We’ll deal with it in court”.
R. Kelly has faced accusations previously, denying them all.
These latest allegations follow the recent release of six-part docuseries Surviving R. Kelly, which explored the sexual abuse allegations against the ‘Ignition’ singer.
Shortly after the program aired on American TV, Kelly was dropped by his record label.