Williams was waived by the Panthers on Saturday, the Charlotte Observer's Joe Person reports.

The move frees up a spot on the roster for Carolina to add a fifth healthy receiver, Brenton Bersin, for Sunday's game.

Williams, who has been recovering from minor groin surgery since June, was removed from the PUP list Wednesday and returned to practice, Steve Reed of the Associated Press reports.

With Williams back in action, he'll compete with veterans Greg Olsen and Ed Dickson for snaps. The trio of tight ends will have to step up this season in the wake of Kelvin Benjamin's season-ending injury. After recording just four catches in 14 games throughout the 2014 season, it's likely Williams will retain his depth role.

Williams, who underwent minor groin surgery in June, should be ready to take the field by the end of the second week of training camp according to his agent, Joe Person of The Charlotte Observer reports.

Williams will have to compete for playing time at tight end this season, as he's currently behind Greg Olsen and Ed Dickson on Carolina's depth chart. He caught just four balls for 44 yards in 14 games throughout the 2014 season, so barring an injury to Olsen or Dickson, Williams' fantasy value is limited to the deepest of leagues.

Williams has four receptions on a team-high nine targets for 81 yards and one touchdown through the Panthers' first two preseason games.

Williams, a 6-4, 250-pound former basketball player, has impressed the Panthers' coaching staff going into his second season. The tight end hauled in a 31-yard touchdown in Carolina's opening preseason contest and added another 31-yard reception in Sunday's second exhibition outing. With unique athleticism and raw talent, Williams is considered a project that the Panthers are taking their time grooming. Nonetheless, his encouraging development should earn Williams playing time in two tight end sets with Greg Olsen, Carolina's unquestioned No. 1 tight end and quarterback Cam Newton's favorite target.

ESPN Panthers reporter David Newton identified second-year TE Brandon Williams as a player that "stood out" during minicamp and OTAs.

An undrafted free agent out of Oregon, Williams played only 28 offensive snaps his rookie year, but Newton believes his offensive role will expand this season. Williams is a physical freak, standing 6-4, 250 with sub-4.6 40 wheels. He likely will not get an opportunity to shine this season with Greg Olsen and Ed Dickson ahead of him on the depth chart, but he is a name to know in deep Dynasty formats.

Panthers declared TE Brandon Williams, CB D.J. Moore, CB Josh Norman, S Quintin Mikell, LB Ben Jacobs, DE Frank Alexander, and DT Dwan Edwards inactive for Week 5 against the Cardinals.

Carolina is mostly healthy coming off of its Week 4 bye.