A Sacramento judge issued a bench warrant for the entertainer's arrest Tuesday after he failed to appear for his arraignment in a case in which he was accused of evading a police officer while driving recklessly in November, TMZ reported.
He was released on $100,500 bail several hours after his arrest.
Williams told TMZ as he was leaving jail he missed the court date because he had another hearing involving the custody of his children.
Asked if the judge in that case returned his kids to him, Williams told the celebrity news website: "No, I actually don't [have custody] ... The lady who tried to take them and lost in court twice, they gave them to her."
It was unclear if the woman he was referring to was the children's mother.
Williams was arrested last month for allegedly endangering his four children by having guns and illegal drugs in his home.
He was released on $100,000 bail and his children placed in protective custody.