Williams originally signed with the Ravens as an undrafted free agent in 2011. He spent two seasons with Baltimore, contributing primarily on special teams before being cut twice in the past year.
Last season, Williams signed with the New England Patriots before being cut in November without ever playing in a game for the Patriots.
The Ravens also cut tight end Allen Reisner from the practice squad as they signed tight end Phillip Supernaw to the practice squad. Supernaw was briefly on the Kansas City Chiefs' active roster before being cut and re-signed to the Ravens' practice squad.