E! News reported Williams, 36, was released Monday from the Coweta County Jail on $41,150 bond. He is accused of breaking into a guesthouse on the Newnan estate where he was staying Sunday and stealing $3,555 in cash and rare coins.
As Williams was leaving the jail, he described the incident as "a misunderstanding between me and two stupid detectives," E! News said.
Williams has starred in his own stand-up special on HBO and has served as host of the BET awards. He also appeared in the movies "Friday After Next," "Norbit" and "First Sunday."
Despite his successful career, he has experienced some personal and legal troubles, and was hospitalized last year for a psychiatric evaluation.
The comedian was previously arrested on gun charges in 2006 and placed on probation for three years.
Firearms charges brought against him for a subsequent 2008 arrest were dropped.