His first major acting role was as "Linc Hayes" on Aaron Spelling's The Mod Squad. He has guest starred in television shows such as Hill Street Blues, Miami Vice, The Highwayman, Twin Peaks, Star Trek: Deep Space Nine, Everybody Hates Chris, and in a recurring role as Philby Cross in the Mystery Woman movie series on the Hallmark Channel. He's appeared in films such as Tales from the Hood and Half Baked.

Williams was born in New York City, New York. His grandfather was Clarence Williams, the jazz pianist and composer. He was raised by his grandmother. Williams was married to African American actress Gloria Foster who died on September 29, 2001.