"If he was to go to jail, I was supposed to kill myself," the woman explains.
Reps for 52-year-old R Kelly claimed in a statement to Fox News the series "is nothing more than worthless propaganda, without basis in fact or reality".
Part one of the documentary Surviving R Kelly aired in January this year. The documentary lead to R Kelly being dropped from his record label RCA Records, and the singer is currently imprisoned.
AP reports the 52-year-old will stand trial in April next year on child pornography and obstruction of justice charges.
Last week he was also charged with bribery, Fox News reports. The charge relates to the attempted creation of a "fraudulent identification document" for a woman identified as "Jane Doe" on August 30, 1994.
Where to get help:
If it is an emergency and you or someone you know is at risk, call 111.
If you're in danger now:
• Phone the police on 111 or ask neighbours of friends to ring for you.
• Run outside and head for where there are other people.
• Scream for help so that your neighbours can hear you.
• Take the children with you.
• Don't stop to get anything else.
• If you are being abused, remember it's not your fault. Violence is never okay
Where to go for help or more information:
• Shine, free national helpline 9am- 11pm every day - 0508 744 633 www.2shine.org.nz
• Women's Refuge: Free national crisis line operates 24/7 - 0800 refuge or 0800 733 843 www.womensrefuge.org.nz
• Shakti: Providing specialist cultural services for African, Asian and middle eastern women and their children. Crisis line 24/7 0800 742 584
• It's Not Ok: Information line 0800 456 450 www.areyouok.org.nz