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D'Angelo has pleaded not guilty for allegedly trying to pay an undercover police officer posing as a prostitute for sex.

The US R&B singer has vowed to contest the charge following his arrest in New York City on Saturday (March 6).

Police said D'Angelo – real name Michael Archer – was at the wheel of his car when he offered the female officer $40, reports the Associated Press.

In a statement, his manager Lindsay Guion said: “We would like his fans and the public at large to know that D'Angelo has pled not guilty - and is contesting the allegations made against him.

“Also know that, he is in good health and extremely excited about his forthcoming new album.”

D'Angelo, who found fame with his 1995 debut album 'Brown Sugar', has had previous run-ins with the law over drugs offences.