R Kelly's daughter voices her support for his accusers in lengthy and emotional instagram post

R Kelly’s estranged daughter has broken her silence over sexual abuse allegations made against him.

Joann Kelly told her followers on Instagram that she was “devastated” and praying for “all families and women affected.”

Her comments come after the release of documentary Surviving R Kelly in which several women came forward to allege that the singer had sexually assaulted them.

Kelly has not been charged with any offence in relation to the latest accusation and denies any wrongdoing.

20-year-old Joann Kelly wrote in an Instagram story: “I apologise if my silence to all that is happening comes off as careless.

“It has been very difficult to process it all. Let alone gather all the right words to express everything I feel.”

She explained that she does not have a relationship with her father.

“Unfortunately for my own personal reasonings and for all my family has endured in regards to him, his life decisions and his last name, it has been years since my siblings and I have seen or have spoken to him.”

Surviving R Kelly covers the musicians alleged abuse of dozens of young women, something Kelly adamantly denies, and has reportedly prompted authorities in the US to open investigations to the case.

On Thursday Lady Gaga announced she has severed ties with the star and apologised for working with him.

The pop star and actor promised to remove the song they made together from streaming services.

Kelly has previously been subject of sexual impropriety allegations and, in 2008, stood trial on child pornography charges, of which he was acquitted.