Knight also allegedly made criminal threats against the woman during the reported attack.
Both pleaded not guilty, and were ordered to stand trial last year.
But on Monday (April 18), Williams accepted a no-jail plea deal, pleading no contest to one felony count of second-degree robbery, according to TMZ.com.
The 45-year-old was immediately sentenced to three years of formal probation and 54 weeks of anger management classes, the Los Angeles County District Attorney’s Office said.
The Death Row Records co-founder is awaiting trial on charges of murder, attempted murder and hit-and-run following a dispute in Compton, California in January, 2015, when he struck and killed his friend Terry Carter before injuring actor Cle Sloan as he tried to race away from the scene.