The Court of Justice in Rio de Janeiro ordered the arrest of Roberto Carlos on Wednesday because of a delay in the payment of three months of alimony for two of his children.
Barbara Thurler, the mother of the two children, filed a lawsuit that said 61,000 real (£15,148) was owed.
Roberto Carlos, 44, claimed to be in financial difficulties and offered to pay 35,000 real with the rest coming in instalments of 2,000 real, but that offer was turned down by the court.
The former left-back is working for his old club Real Madrid as an ambassador.
Because he does not live in Brazil, there is no possibility of him being detained unless an international arrest warrant is issued.
A statement issued on behalf of Roberto Carlos said all his legal duties had been fulfilled and he had "made the payment of the alimony related to June on Aug. 3," with the money owed for July having been paid on Wednesday.