The 35-year-old performer was released on bail Thursday in time to make it for his show at Carnegie Hall. He told the audience that he "just got out of jail."
Police say a handgun was found in Williams' car after he was stopped for the alleged traffic violation.
His attorney, Charles Ross, did not immediately return a call requesting comment early Friday.
Williams is best known for his role in the movie "Friday After Next" and for his appearances in rap videos. He also voices "A Pimp Named Slickback" in "The Boondocks" animated television series.