Special Judge Poonam Chaudhry enlarged the AAP MLA on bail on furnishing of a personal bond of Rs one lakh and surety of a like amount.
The court directed Kumar, who was arrested on September 3 and was in custody since then, to deposit his passport and not to influence witnesses.
Kumar had sought bail on the ground that probe in the case was over and his custodial interrogation was no longer required.
The police had opposed his bail plea saying he was an influential person and could scuttle the investigation.
It had contended that the victim lived in the same constituency which Kumar represented and if he was released from jail, he might tamper with the evidence.
Kumar sought relief saying he has been in custody for two months and his conduct since the lodging of FIR was good and "unquestionable" and he had himself surrendered before the police.
Kumar was arrested after a woman had lodged a complaint at Sultanpuri police station in North Delhi alleging sexual harassment by the former Social Welfare and Women and Child Development minister, following which a case was filed. She had allegedly figured in an objectionable video with him.
The MLA from Sultanpur Majra was sacked from AAP government and the party on August 31 after the CD surfaced.
He had defended himself saying he had been targeted.