R. Kelly a real ‘dog,’ court told

Disgraced R&B icon R. Kelly had a teen walk another girl like a dog while they were dressed only in lingerie, a witness testified at the singer’s Brooklyn trial.

The woman, who was only identified as Alexis, 31, was a reluctant witness who only showed up in court after federal prosecutors subpoenaed her, she admitted.

But while on the stand, she recounted a kinky episode during her decade-long relationship with the “Sex Me” singer.

“I walked a girl around on a leash,” Alexis said Thursday in Brooklyn Federal Court, where the 54-year-old Kelly is on trial for targeting underage girls for illegal sex acts. “I put the collar on her and she was on her hands and knees and I was walking her.”

Alexis said the encounter was Kelly’s idea and occurred in the garage of his Olympia Fields, Ill. residence — though she did not recall her age or the year it happened. She also said that there was no sex act involved.

The garage is the same room where Kelly had a naked “young lady” ready to perform sex acts for him and an underage teen boy at the snap of his fingers, testimony this week revealed.

Alexis told jurors that she met Kelly in 2006 at his concert in Jacksonville, Fla., where she was living. She was only 15 at the time.

When she told the singer she was underage, he didn’t flinch.

“There’s nothing wrong with platonic friendship and if it turns into something over time then so be it,” she recalled Kelly telling her.

While Alexis copped to a sexual relationship with Kelly, she testified she could not remember whether she first had sex with him while she was underage or already 18.

She remembered that she and Kelly did not have sexual relations the first time she visited his home in Chicago when she was 17.

Kelly, born Robert Sylvester Kelly, faces a maximum sentence of life in prison if convicted of running a decades-long scheme targeting girls and young women for sex. Prosecutors say Kelly also targeted two male victims.

He is also accused of torturing some of the girls by forcing them to remain in rooms sometimes for days at a time, making them film humiliating videos and delivering spankings as punishments for breaking his rules.