Walmart driver Kevin Roper reportedly fell asleep behind the wheel and drove his vehicle into a limousine carrying Morgan and the late James McNair in New Jersey.
As part of his plea deal, agreed on Tuesday, Roper will enter a three-year intervention programme that includes 300 hours of community service, according to TMZ.
The news comes a week after Walmart bosses reached a settlement with their insurance company over the fatal accident.
During an appearance on late night chat show Conan earlier this month, he said he doesn't hold a grudge against the driver.
"I forgave him. I'm not even mad at him no (sic) more."
Morgan, 48, and Walmart executives reached a financial settlement over the collision back in 2015.
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