Cunningham said that Williams was not ticketed or charged, and was not injured in the crash. The police report said she was not under the influence of drugs or alcohol.
Williams was cited in Palm Beach County, Fla., for driving without proof of insurance in 2011 and for driving with a suspended license in 2013.
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Williams, who has won seven Grand Slam singles titles, is expected to play in her 20th Wimbledon starting Monday. She is seeded No. 10.
Williams has had her greatest success at Wimbledon. She has won the singles title five times, most recently in 2008. Last year, she reached the semifinals, her best result at the tournament since 2009.
Williams, who reached the final of the Australian Open in January, losing to her sister Serena, has not competed since the French Open. There, she lost to Timea Bacsinszky in the fourth round on June 4, five days before the accident, which occurred one day before the women’s final in Paris.
Last week, Williams spoke at a leadership conference in Sydney, Australia. It is not known if she has yet traveled to Britain for Wimbledon. She did not attend Thursday night’s WTA pre-Wimbledon party in London.
An earlier version of this article misstated the legal status of Venus Williams regarding a fatal car crash. Her lawyer said that Williams had not been cited or charged in the June 9 crash; he did not say that she had not been found at fault.