According to county attorney Mike Freeman, Kelly invited the 17-year-old to his hotel room and offered her $200 (£164) to undress and dance with him.
After money was exchanged they had sexual contact but not intercourse, Freeman claimed.
Kelly's lawyer Steve Greenberg said the charges were "beyond absurd".
His colleague Doug Anton said it was not clear that R. Kelly had ever met his alleged victim and that the charges might be a case of "revisionist history".
The R&B singer is now facing criminal proceedings in three US states.