The Steelers signed Williams to a reserve/future contract Tuesday, Teresa Varley of the team's official site reports.
Williams signed with Denver as an undrafted free agent out of Tennessee Martin, though he was waived in mid-August after three months with the team. The 24-year-old then signed with Pittsburgh's practice squad Sept. 13. Williams will now compete for a chance to make his NFL debut heading into the 2023 campaign.