D’Angelo has pleaded guilty to a charge of disorderly conduct after being accused of trying to pay an undercover police officer for sex.
The singer, real name Michael Archer, appeared in court in New York on Friday (March 11) to answer the charge, which related to an incident in the city last year, reports Associated Press.
Archer was arrested at the wheel of his Range Rover on March 6 2010 after attempting to give $40 (£25) to a police officer posing as a prostitute.
At the time of the arrest he said he planned to fight the charge and plead not guilty in court.
The punishment Archer will receive is unclear, as his lawyers have pointed out that the offence is a violation, not a crime.
Prosecutors have said Archer has satisfied their conditions, but declined to say what they are.
Archer has had a number of brushes with the law over the years. He has been charged with drug possession multiple times, as well as reckless driving and driving with a suspended license.
His last album release was 2000’s ‘Voodoo’.