The Lifetime series featured interviews with several women making on-camera allegations of sexual, mental and physical abuse by Kelly, as well as interviews with some of his former managers and producers.
In an interview with The Associated Press, Greenberg portrayed Kelly, one of the top-selling recording artists of all time, as a victim of a television hit piece.
"Surviving R. Kelly" follows the BBC's "R Kelly: Sex, Girls & Videotapes", which was released a year ago.
Greenberg also claimed that "those things didn't happen" and "the man was not operating a harem or a sex cult or holding people hostage or anything like that", before expressing hope that Kelly will sue Lifetime for defamation "because people shouldn't be able to do this to someone".
Activists from the #TimesUp and #MuteRKelly movements have seized on the renewed attention to call for fans and music industry partners to cut ties with Kelly and some past collaborators are apologizing for having worked with him.
His estranged daughter Buku Abi, meanwhile, condemned her father as "a monster" in a statement issued via Instagram.
Greenberg confirmed that Kelly married Aaliyah when she was 15 and he was 27, but said Kelly didn't know she was younger than the legal age of consent.
Kannie Yu LaPack, a spokeswoman for Lifetime, said: "The women's stories speak for themselves".
Even as he denied the allegations, Greenberg said he didn't know details about them.
The Cook County state attorney's office said at least two women have since come forward alleging inappropriate conduct by Kelly in 2002 at the warehouse and a home on the South Side in the mid-1980s.
"Now, some producer went running around and solicited all these people, did a Jerry Springer-esque show and there is all this uproar", he said.
About the disgraced star, Greenberg said that 'He's disappointed these women are doing this, that those families are doing it, that they are ruining a talented musician's career'. On Jan. 7, the day after the series ended, Kelly's songs were played on radio 198,000 times.