Financial terms were not disclosed, but the Minneapolis Star Tribune reported that Williams will receive $12 million.
Last year, the Vikings had contentious negotiations with their first-round pick, Bryant McKinnie, prompting the left tackle to stage a 98-day holdout. McKinnie ended up missing the first eight games of the season.
On Draft Day, the Vikings were trying to work out a trade with Baltimore, but used more than their allotted time and watched Jacksonville and Carolina make selections.
However, no damage was done,
The 6-5, 304-pound Williams is expected to be an immediate starter alongside defensive tackle Chris Hovan. The four-year starter in college had 61 tackles, including 14 for losses, and seven sacks last season.
At Oklahoma State, he started 42 games in his career, and was a consensus All-Big 12 honoree as a senior in 2002.