The women are reportedly identified as Joycelyn Savage and Azriel Clary, whose parents have participated in the bombshell docuseries "Surviving R. Kelly".
However, in a wide-ranging interview with The Associated Press on Friday, the "Ignition" singer's attorney denied all accusations.
The Cook County state attorney's office said at least two women have since come forward alleging inappropriate conduct by Kelly in 2002 at the warehouse and a home on the South Side in the mid-1980s.
"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", said Greenberg.
The woman allegedly met R. Kelly in 2017 when she was 19 and he began to groom her to join his sex cult, she told authorities. He asserted that in the past women have "come on to" Kelly in the hopes that he could help them in their own performing careers, then became "disgruntled" when their own careers stalled and issued false allegations. Lifetime did not immediately respond to a request for comment.
"The police found nothing because there's nothing wrong", he said.
His ex-wife Andrea Kelly, whom he divorced in 2009, accused him of domestic abuse last year and feared for her life during one attack during their 13-year marriage, which ended in 2009.
Despite admitting he did not know the details of the allegations made in Surviving R Kelly, Mr Greenberg denied all claims.
"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.
"Now, some producer went running around and solicited all these people, did a Jerry Springer-esqe show and there is all this uproar", he said.