"Thirty years of my career! And y'all trying to kill me? You killing me, man! This is not about music! I'm trying to have a relationship with my kids! And I can't do it! Y'all just don't want to believe the truth! You don't want to believe it!," he said while standing for emphasis during the interview.
Kelly later denied what he called the "lies" that have been told about him.
"Handcuffing people, starving people. I have a harem, what you call it — a cult. I don't even really know what a cult is. But I know I don't have one," he said.
"I have been assassinated. I have been buried alive. But I'm alive."
The singer was charged in Chicago on Feb. 22 with 10 counts of felony aggravated sexual abuse. He pleaded not guilty.
An unsealed indictment released at the time he was charged listed four people who were allegedly victimized by Kelly. They were identified only by initials in the court papers.
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Responding to how women described him during the docuseries, Kelly said, "They was describing Lucifer. I'm not Lucifer. I'm a man. I make mistakes, but I'm not a devil, and by no means am I a monster."
The alleged sex acts occurred between May 1998 and January 2010, prosecutors said. Three of the women were under the age of 17 when the alleged acts occurred, according to authorities.
Kelly and his lawyers have consistently denied that he has engaged in illegal activity.
When asked by King if he's done anything wrong, Kelly responded, "Lots of things wrong when it comes to women that I apologized, but I apologized in those relationships at the time that I was in the relationships, OK?" He then again denied that he had broken any laws.
Kelly, whose real name is Robert Kelly, has faced allegations before. He was criminally accused of sexual misconduct in 2002, eventually tried on child pornography charges in the same case and cleared by a jury in 2008 on all counts.
He told King in the interview that "people are going back to my past — that’s exactly what they’re doing. They’re going back to the past and they’re trying to add all of this stuff now to that."
When King asked whether "the past is relevant" to the current charges, Kelly said, “Absolutely, no it's not.”
"I beat my case," he said. "When you beat something, you beat it. You cannot double jeopardy me like that, it’s not fair."
Kelly also spoke about his relationships with the two women who live with him in Chicago, Joycelyn Savage, 23, and Azriel Clary, 21.
"I love 'em and it's almost — it's like they're my girlfriends," he said.
King asked if Kelly has ever held anyone against their will, to which he angrily responded, "I don't need to. Why would I?"
"How stupid would it be for R. Kelly — with all I’ve been through in my way, way past — to hold somebody," Kelly said.
Attorney Michael Avenatti, who represents at least one of Kelly's alleged victims and Clary's parents, tweeted a statement from her family Tuesday evening.
"Azriel has suffered severe mental abuse at the hands of R. Kelly for years ... R. Kelly is a liar, manipulator and sociopath who must be brought to justice for his decades of sexual assaults on underage girls. All of these victims and their parents cannot be lying," Avenatti wrote.