Raptors orthopedic surgeon performed the procedure on the knee and Dr. Dave Stephen the operation on the ankle.
The surgery removed inflammation from the knee and bone spurs from the ankle. Williams is scheduled to begin rehabilitation following a brief recovery period.
This is the second offseason procedure for Williams, who had his right knee scoped on May 13.
Williams averaged a career-high 11.8 points and a team-leading 5.7 assists last season and was the lone Raptor to appear in all 82 games. He averaged 12.0 points and 5.6 assists in Toronto's first-round loss to Detroit in five games.