On Thursday Buku Abi, real name Joann Kelly, posted on Instagram saying she was "devastated" by the recent accusations in the documentary Surviving R Kelly.
The 20-year-old said she hasn't seen or spoken to him in years, calling him a "monster" and a "terrible" father.
R Kelly has denied all the allegations against him.
His lawyer has dismissed the documentary as "another round of stories" being used to "fill reality TV time".
Buku voiced her support for her dad's alleged victims and explained why she waited to speak out about the claims, saying they had been hard to come to terms with.
"It has been very difficult to process it all," she wrote in a text-heavy Instagram Story. "Let alone gather all the right words to express everything I feel."
The documentary Surviving R Kelly - shown on the US channel Lifetime - exposes detailed accounts of his alleged physical and emotional abuse of women.
It claims that the R&B singer allegedly ran an "abusive cult" in which he is accused of keeping women captive, against their wills.
The programme includes a number of interviews, including with singer John Legend who emphasised he believes the women.