The arrest took place in Chicago, and the controversial artist is expected to return to NY for trial according to Variety.
The singer, 52, already facing sexual abuse charges brought by IL prosecutors, is understood to have been detained while walking his dog at around 7pm.
R. Kelly has denied the allegations made in the six-part series.
In May, the "Ignition" singer was hit with 11 counts of sex assault, including four counts of aggravated sexual assault, which carry a sentence of up to 30 years in prison. The alleged incidents occurred between January 1, 2010 and January 31, 2010.
Those counts, unveiled in late May in an indictment by a Cook County grand jury, involve alleged abuse of a victim between the ages of 13 and 16. Kelly pleaded not guilty to the charges. Greenberg added, "If you didn't do it, then you didn't do it", and said, "I think he's feeling positive. It's tough. Everything is against him".
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Musician R. Kelly, center, leaves the Daley Center after a hearing in his child support case, May 8, 2019, in Chicago. He was released three days later after someone covered the debt on his behalf.
He's already pleaded not guilty to more than 20 sexual offences.
In an emotional interview with CBS's Gayle King in March, Kelly screamed and jumped out of his chair to declare his innocence. "Nobody said nothing good", he said.
"Believe me, man! This is not me! I make mistakes, but I'm not a devil, and by no means am I a monster".
For more on Kelly's legal woes, watch below.