Johnson later told USA Today he spoke poorly.
"I should have worded it better," Johnson said, adding he also meant to say, "I would leave my daughter with Kelly because I do not believe he is a pedophile."
In a statement to the publication, Johnson confirmed he was no longer working for Kelly.
"This has nothing to do with Mr. Kelly it's for my (own) person(al) reasons," he said.
It's not clear what exactly Johnson's role with Kelly's team was. He was initially referred to as a publicist or spokesman for the singer, but several of Kelly's attorneys have told USA Today Johnson was not a part of Kelly's defense team. Steve Greenberg, one of Kelly's attorneys, told the publication Johnson was "acting as a PR person."
But in a since-deleted tweet posted Monday, Greenberg said, "Darryl Johnson is a crisis manager who has been assisting us and will continue to assist us. He is not a PR person, he is not a spiritual advisor. He has the full confidence of the defense team."
Greenburg later issued a formal statement on Johnson's exit, saying he "decided to take some time off."
"As has been reported, Darrel Johnson has decided to take some time off, for personal reasons, from his efforts on behalf of R. Kelly," Greenberg said in a statement. "The defense wants to thank Mr. Johnson for his tireless assistance and looks forward to his return. He shares our confidence that this is an unprecedented assault against R. Kelly by others, for their own personal gain, and the innocence of R. Kelly.
"There will be no further comment."
R. Kelly Arrested for Sex Trafficking