Ulyukayev was the highest ranking official detained over suspected corruption since President Vladimir Putin took power in 2000 and his arrest sparked speculation over whether the probe is linked to an internal power struggle.
Judge Artur Karpov told Moscow's Basmanny district court that the 60-year-old minister would be confined to his residence in the southwest of the Russian capital until January 15 during the ongoing investigation.
Russia's Investigative Committee said Ulyukayev had "illegally demanded" payment to approve acquisition by Rosneft of a majority stake in Russian oil company Bashneft from the state, a USD 5.2-billion deal completed last month.
The committee said earlier today that the FSB security service, the KGB's successor, detained Ulyukayev after a sting operation yesterday as he was receiving the alleged bribe.
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Investigators did not say who handed the alleged bribe to Ulyukayev.
Former MP Gennady Gudkov, a staunch Kremlin critic who once served in the KGB, said the move was the result of a high-level internal power struggle.
"What we are seeing today is not a fight against corruption," Gudkov wrote in an op-ed published on the website of Ekho Moskvy radio station.
Police ushered Ulyukayev, without handcuffs and wearing a suit and tie, into the courtroom today afternoon, according to an AFP correspondent at the scene.
He refused to answer reporters' questions. He told the court that he was ready to cooperate with investigators but had yet to testify, Russian news agencies reported.
"I am determined to cooperate with the investigation as much as possible since my reputation and good name can only be restored by finding out the truth in this case," he was quoted as saying.
At least two people have given testimony to investigators incriminating Ulyukayev, local media reported.
The eventual sale of the 50.07-percent stake in Russia's sixth-largest oil producer came after months of wrangling that has seen Rosneft -- headed by Igor Sechin, a powerful Putin ally -- face down opposition from some in the government.