Metropolitan Magistrate Vijeta Singh Rawat granted bail to Khan. He was told not to try to influence witnesses or tamper with evidence.
Khan's counsel Madan Lal told the court that his client had been falsely implicated in the case.
Khan, who represents Okhla constituency in south Delhi, was arrested on Wednesday morning after being called for questioning. He was sent to a day's judicial custody by the court.
Following the complaint by the woman, a FIR was lodged against the Aam Aadmi Party legislator at the Jamia Nagar police station on September 10.
The complainant accused Khan of pressurising her to establish physical relations. Khan has denied the allegation, saying he had no connection with the woman.
Khan was charged with trying to assault or use criminal force against the woman to outrage her modesty, criminal intimidation, subjecting a woman to cruelty as well as criminal conspiracy, police said.
Khan went to the Jamia Nagar police station on Sunday to surrender but police refused to arrest him.
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