According to a police report obtained by ABC News, Linda and Jerome Barson, whose vehicle struck Williams' SUV, were transported to a local hospital immediately after the incident.
A Palm Beach Gardens police representative confirmed to ABC News that Jerome Barson later died.
Linda Barson, the driver, told police that on June 9, she had a green light when she T-boned the athlete's SUV after Williams allegedly drove through an intersection.
Williams, however, said that she was forced to stop in the middle of the intersection because of traffic and did not see Barson's vehicle when she began moving again, according to the police report.
"[Williams] is at fault for violating the right of way of [the other driver]," the police report read.
Malcolm Cunningham, an attorney for Williams, noted, however, that authorities did not issue her any citations for traffic violations.
"Ms. Williams entered the intersection on a green light. The police report estimates that Ms. Williams was traveling at 5 miles per hour when Mrs. Barson crashed into her," he said. "This is an unfortunate accident, and Venus expresses her deepest condolences to the family who lost a loved one."
Police noted in the report that there was no evidence Williams or Linda Barson were under the influence of intoxicants and neither party appeared to have been distracted by electronic devices.
Police are still investigating the collision.