The move adds to the* *battle at starting left guard to replace departed Pro Bowler Ben Grubbs.
Williams, 35, is a 13-year veteran who will compete with, and presumably mentor, rookies Kelechi Osemele and Gino Gradkowski, and second-year players Jah Reid and Justin Boren.
"Bobbie is a guy who has been in the league for a long time," Head Coach John Harbaugh said. "We've played against him, and we like his style of play and his demeanor as a person and as a player. We're excited to have him as a member of our team."
Williams spent the past eight years with the Cincinnati Bengals, starting every game he suited up for. He just missed three games from 2004 to 2010, but only* *played nine games last year. Williams' season was ended by a broken ankle in Week 14.
The former second-round pick of the Philadelphia Eagles is a 6-foot-4, 345 pounder who is known for his physical play.