Villalobos, 26, pleaded guilty to trespassing and will stay in a mental health facility as part of his conditional discharge, the New York Daily News said.
Villalobos leaped from a passing monorail in September 2012 and climbed a fence to reach the den.
He was able to pet the 11-year-old tiger, Bachuta, before being attacked.
Zoo employees used a fire extinguisher to drive the animal away, but Villalobos suffered a broken right shoulder, right ankle, rib and pelvis, and a punctured lung.
When police asked him about his motive at the time of the incident, Villalobos said that he wanted to be one with the tiger, the Daily News reported.