Kelly was originally arrested back in 2002 after the video found its way to the Chicago Sun-Times newspaper.
But in the trial 41-year-old R Kelly and the alleged victim, now 23, both said it was not them who were shown on the footage on the tape.
The main witness against Kelly was a woman who claimed she had had three-way sex with both him and the girl shown on the video.
However, the defence attempted to discredit the woman witness for the prosecution, alleging she had attempted to extort money from R Kelly. It was also argued that the man in the tape did not have a large mole on his back as the singer does.
The star could have faced up to 15 years in prison if he had been convicted.
