Williamson agreed to return to the Titans' active roster Tuesday, Mike Klis of 9News Denver reports.
The Titans signed Williamson off the Broncos' practice squad. The 29-year-old suited up for all but one of 64 potential games in Tennessee after being drafted in the fifth round of the 2014 NFL Draft. After accumulating time with the Jets, Steelers and Broncos across the previous four seasons, he figures to bring experience and depth to the team's linebacker unit going forward.