Justice R R Prasad quashed the arrest warrants after the former Bihar minister moved the court following rejection of his anticipatory bail petition by Bokaro District and Sessions Court.
Bokaro sub-divisional judicial magistrate had issued non-bailable arrest warrant on April 23.
Singh has been charged with delivering hate speech saying those who opposed BJP's Prime Ministerial candidate Narendra Modi would have to find a place in Pakistan at a rally in Harla police station area in Bokaro on April 18.
He also faced a second FIR in Deogarh on the same charges. The Deogarh district and sessions court stayed the arrest of Singh till May 3.
On April 25, Singh got an anticipatory bail by Patna District and Sessions Judge Birendra Kumar on an FIR on the same charge.