Savage added her "relationship with Robert is amazing" and they are "deeply in love".
She went on: "He's the best thing that's ever happened to me. We have a very special connection and are deeply in love.
"I still support Robert to this day because I love him and will always be here to support him. Robert is not the monster that the government has described him to be.
"The Robert I know is very sweet, gentle, and kind. At the end of the day, he has always made sure that I'm taken care of, and any other women he was with as well.
"He is a great man, with a great heart and deserves to be home with his loved ones who are ready to support him."
The Savage family's attorney has questioned how genuine the engagement is as Savage did not testify about it under oath during Kelly's trial.
Even though they are said to want to reconnect with her to hear her story, they have not talked to Savage since she left to live with Kelly.
Kelly was convicted last September of nine criminal counts, including violations of the Mann Act and racketeering.
Judge Ann M Donnelly said during his sentencing in June "the public has to be protected from behaviours like this", adding: "These crimes were calculated and carefully planned and regularly executed for almost 25 years. You taught them that love is enslavement and violence."
The R&B superstar is due to face another federal trial on August 15 alongside his former employees in Illinois, with the disgraced singer accused of producing child sexual abuse material and conspiring with staff to corruptly win his 2008 acquittal.
