Williams was originally sentenced to 180 days in county jail for the misdemeanor, but California Superior Court Judge Laurel White in Sacramento converted the sentence to 90 days of community service.
The other 90 days will be stayed if Williams completes the community service and faces no new charges, The Sacramento Bee reported.
The celebrity comedian, rapper and actor, who has had a string of legal and personal troubles in the past few years, was in Sacramento for a concert Nov. 25 when California Highway Patrol officers said they spotted him driving a Can-Am Spyder three-wheeled motorcycle on the sidewalk.
He then drove onto a street where motor vehicles are not allowed, nearly hitting five pedestrians, police said.
This led to a short police pursuit, complete with patrol car lightbars and sirens, in which Williams blew through several red lights.
The pursuing officer gave up the chase, fearing for public safety, police said.
Williams was later arrested in the Los Angeles area.
He was originally charged with the felony vehicle code violation of reckless evasion of a peace officer, the Bee said.
The "Friday After Next" movie star added to his legal woes when he failed to appear in court at least three times since then.
He was arrested Jan. 8 at his West Hills, Calif., home after a warrant was issued for failing to appear.
Williams told reporters last month the three-wheeler episode was a "misunderstanding" and failing to appear in court was a mistake.
His attorney, Harris Taback, said the comedian missed the court dates because he was appearing in a Southern California court in a custody battle for his adopted children.