Williams was pulled over for a traffic offense, then arrested on warrants, Austin police said.
He is no longer in the Travis County Jail, records show.
Williams, who starred at the University of Texas and played seven seasons in the NFL, is currently a football analyst for ESPN's Longhorn Network. He won the Heisman Trophy in 1998 and was the second Longhorn to win college football’s top prize, and was also a two-time All-American.
Earlier this year, Williams said he was racially profiled while walking through a neighborhood in Tyler. A man called 911 when he "observed a black male, wearing all black, crouched down behind his wire fence," and Tyler police stopped and searched Williams, according to media reports.
Williams was taken to the Travis County Jail 17 years ago, when he was playing for the New Orleans Saints, when he refused to sign a traffic ticket, according to previous media reports.