Striker Williams tapped in Miles Storey's low cross from two yards in the 81st minute.
Williams goal came moments after former Robin Elliot Benyon was knocked out following a collision with Louis Thompson and received seven minutes treatment.
Martin Rice made Swindon sweat when he saved a 56th minute spot kick from Alex Pritchard after he had been up-ended by fellow midfielder Lee Mansell.
Swindon caretaker boss Mark Cooper was delighted with the win and said:
"It was a fine win. We had a rocky spell just before half time, sorted it out and dominated the second half. We deserved probably to win by more one goal. We kept going and managed to see it out."
Frustrated Torquay manager Alan Knill said:
"We had a good spell in the first half and even when the second half kicked off I thought we had a chance - then we shipped the goal. We lost concentration after Elliot Benyon was injured and they scored straight away.
"Fortunately Elliot is okay. He was out cold for about ten minutes and he' not as chirpy as he usually is, but he's okay. Then again, he walks around like he's permanently concussed sometimes."
My piece from this morning's paper
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