Metropolitan Magistrate Harvinder Singh, who had yesterday sent Yadav to police custody for a day, released the legislator on bail on furnishing of a personal bond of Rs 20,000 and a surety of the like amount.
The legislator from Vikaspuri in West Delhi, along with four others, was arrested yesterday by the police.
The court had yesterday granted bail to four other accused - Rupesh Katyani, Devender Kumar, Roshan Kumar and Shailesh Kumar - who were also arrested in the case.
According to the police, Yadav had led a violent protest on the evening of January 28 in Nihal Vihar area in West Delhi following sexual assault on a three-year-old girl. A mob had attacked public vehicles and tried to set one of them on fire.
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The protesters had demanded immediate arrest of the 38- year-old accused alleging that the police was not pursuing the case promptly, though Joint Commissioner of Police (Southwest) Dependra Pathak had claimed that the alleged culprit was arrested much before the protest.
"A case was registered on the night of January 28 and the MLA was arrested on charges of rioting, arson, assault on public servant, wrongful restraint and damage to public property," the police had said.
It had said the protesters even manhandled a police team which had tried to pacify the agitators.
Reacting to Yadav's arrest, AAP's Delhi Convener Dilip Pandey had tweeted, "Delhi Police busy again arresting AAP MLA instead of ensuring Delhi women safety despite multiple warnings from courts.