The Grammy Award-winning R&B singer entered his plea Friday. The offense is a violation, not a crime.
Prosecutors say he has satisfied conditions they declined to specify. The singer and his lawyer declined to comment.
The 37-year-old D'Angelo was arrested in March 2010. Police said he tried to pay $40 for a sex act to an undercover officer posing as a prostitute.
D'Angelo — born Michael Archer — emerged as a standout among the neosoul singers of the 1990s. His Grammys include the 2000 Best R&B Album award for "Voodoo."
He hasn't released an album since and has had a series of run-ins with the law.