His attorney has confirmed the reports
The charge carries a possible maximum prison sentence of 10 years
One of the accused is suspected of setting fire to a vehicle in Florida
R Kelly entered his plea via teleconference from jail.
Kelly has been in prison since last July.
His New York trial will now begin in September.
“He has not established compelling reasons warranting his release"
Aaliyah was just 15 when she married R Kelly in 1994
More accusations have emerged against R Kelly
Singer was held over a number of separate allegations earlier this year