D’Angelo says he didn’t try to solicit sex for $40 from an undercover cop. He was released after pleading not guilty to the solicitation charge.

Grammy Award-winning R&B singer D’Angelo was arrested early yesterday after allegedly offering an undercover policewoman $40 for oral sex while cruising alone through the West Village — with $12,000 stashed in his SUV.

D’Angelo was allegedly arrested this weekend after soliciiting oral sex from an undercover police officer in New York City.

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