Williams appeared dazed after a clash early in the Sydney Test, but was never taken off for a head check, prompting a SANZAAR investigation.
New Zealand medical staff, though, have cleared the centre to play in the second Test with the 32-year-old not presenting any symptoms.
There are three changes to the All Blacks matchday 23, headlined by Dane Coles returning from a concussion layoff to start in his 50th Test.
