District and Sessions judge Ramdutt Paliwal granted bail to Joshi on furnishing two bail bonds of Rs 25,000 each, his lawyer R S Raghav said.
Joshi's release on bail paves the way for him to vote in the state Assembly on March 28 when Harish Rawat government which has been asked by the Governor to go for a floor test.
The legislator has also been asked by the court to cooperate with the police in the ongoing investigations into the case.
Non bailable offences which Joshi was charged with include stopping government officials from discharging their duties.