Greenberg told the Associated Press: 'The allegations aren't true because he never knowingly had sex with an underage woman, he never forced anyone to do anything, he never held anyone captive, he never abused anyone'.
R. Kelly has been under intense criticism after Lifetime released its three-night documentary series, "Surviving R. Kelly", which detailed accusations of sexual abuse and paedophilia allegedly committed by him.
The singer has for years faced allegations he sexually abused women, but the 52-year-old hasn't been charged and he's denied any wrongdoing. But an IL prosecutor's plea for potential victims and witnesses to come forward has sparked hope among some advocates that the R&B star might face new charges.
In the footage, the two groups could be heard arguing with one another through megaphones, with protestors shaming the supporters for not standing up for Kelly's alleged victims.
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On Thursday, the singer's estranged daughter, Joann Kelly, who is also known as Buku Abi, shared a long post on her Instagram story rebuking her father and calling him a monster.
"There's women saying things, which is of course their prerogative, but there is no evidence that any of it happened", Greenberg said of the documentary. In 2008, although authorities charged Kelly with 21 counts of child pornography, Kelly became acquitted of all charges.
Lifetime is part of A&E Networks, which is a joint venture between Hearst Communications and Walt Disney Co.
The fallout has seen the launch of a fresh police investigation, while several high profile musicians who previously collaborated with R. Kelly have spoken out against him, including Chance the Rapper, Phoenix and Lady Gaga, who apologised and pledged to remove her duet with Kelly from streaming services.