The actor, 80, has been on trial for drugging and assaulting ex-basketball player Andrea Constand in 2004.
Cosby, the first major black actor on primetime TV, will remain out of jail until he is sentenced, the judge ruled.
He unleashed an expletive-filled rant after the verdict, as prosecutors argued he should be denied bail.
The prosecutor argued that he should be held because he is "somebody who has unlimited wealth" and could flee on a private plane.
"He doesn't have a plane," Cosby then erupted, adding a vulgarity which he directed at the prosecutor.