Terms of the settlement were not disclosed.
The lawsuit stated that the plaintiff -- identified only as "Kate P." -- was seeking in excess of $75,000 because of the "damages in the nature of emotional distress and future therapy expenses."
The incident resulted in an eight-month-long NFL investigation, which concluded that the 24-year-old Winston was involved in detrimental conduct by "touching the driver in an inappropriate and sexual manner without her consent and that disciplinary action was necessary and appropriate."
Winston, who was the top overall pick of the 2015 NFL Draft by the Buccaneers, served a three-game suspension from the NFL for violating the league's personal conduct policy.
The lawsuit alleged that Winston was "belligerent" and placed his fingers between the plaintiff's legs and pressed them firmly over her yoga pants while waiting in the drive-thru line of Los Betos restaurant in Scottsdale (Ariz.) in March 2016.
Per the lawsuit, she looked at Winston and down at his hand before responding, "What's up with that?" Winston withdrew his hand, the suit said.
She then immediately tried calling her boyfriend before sending him a series of text messages, including one that read, "I just got semi-molested by the Tampa Bay Buc QB."
The woman did not file a report with police but did report the incident to Uber the following day. Uber contacted Winston, who said that there were other passengers in the vehicle that night.
Winston became the first quarterback in NFL history to throw for over 4,000 yards in each of his first two seasons. He was hampered by a shoulder injury in 2017, limiting him to a career-worst 3,504 passing yards with 19 touchdowns in 13 games.
The 6-foot-4, 231-pound Winston has completed 1,076-of-1,746 passes for 13,328 yards with 79 touchdowns and 55 interceptions in 51 career games with the Buccaneers. He has also rushed for 662 yards with nine scores.