Justice Suresh Kait granted relief to Singh while asking him to furnish a bail bond of Rs 25,000 with one surety of the like amount.
The court also took into consideration that the parties have settled the matter among themselves.
The order came on an appeal filed by Singh against the trial court's January 29 decison, by which his anticipatory bail was rejected.
The same was refuted by the lawyer, who claimed before the court that he is innocent.
The police has lodged a case of forgery, cheating and criminal conspiracy on a complainant of Sudhir Kumar.
Singh was caught on camera beating journalists and JNU students and teachers along with his colleagues, after which he was arrested and granted bail yesterday from the police station itself.