Terms of the deal weren't released Thursday.
Williams has played in 17 games in the NFL with no starts. He has three tackles since breaking into the league as an undrafted free agent in 2010. He has seen action on special teams, forcing a fumble last year for from the Jacksonville Jaguars against Panthers returner Philly Brown, although Brown would pick up the loose ball and run for a score.
The 6-foot-1, 207-pound Williams also has caught one pass in his career for 51 yards, that coming with the Arizona Cardinals in 2013.
He has also had stints with the Dallas, Indianapolis and Chicago.