Venus' black 4x4 can be seen edging out at an intersection in Florida in the security footage, taken a few metres away.
It shows her 2010 Toyota Sequoia SUV being cut off by a vehicle in front of her turning left.
Venus then slowly travels forward when another car - the 2016 Hyundai sedan driven by Linda Barson ran into her, leaving 78-year-old Jerome Barson another passenger with a head injury which later caused his death.
The tennis champ had been travelling in Palm Beach Gardens on June 9 and was forced to crawl through a junction at a slow pace when she got stuck at the intersection behind a line of traffic.
She had been driving on a green light and there was no evidence to suggest she was using her phone or was under the influence behind the wheel, police said.
Pictures from the scene showed the impact of the crash on the Barsons' Hyundai Accent SE and first responders working on the crumpled car.
Linda Barson, who was driving the car at the time, survived the crash and received hospital treatment for injuries to her arm.
Venus was not charged or cited with any offence, and her lawyer told CNN at the time: "Ms Williams entered the intersection on a green light. The police report estimates that Ms Williams was travelling at 5mph when Mrs Barson crashed into her.
"Authorities did not issue Ms Williams with any citations or traffic violations. This is an unfortunate accident and Venus expresses her deepest condolences to the family who lost a loved one."
Police investigators have since revised their initial finding that Venus was somehow at fault, and a spokesperson for the force told media that no blame has yet been determined, although the dead man's estate has launched a wrongful death lawsuit against her for unspecified damages.