The cause of death was suicide due to asphyxia, according to a preliminary investigation.
The Oscar-winning actor and comedian was discovered in a bedroom by his personal assistant who had become concerned and entered the room before midday on Monday.
The 63-year-old celebrity was last seen alive by his wife Susan Schneider about 10.30pm the previous evening before she went to bed.
When she left the property the following morning, she thought he was still asleep in another room, before his PA found him and raised the alarm.
Marin County Sheriff's Lieutenant Keith Boyd said toxicology tests will be carried out and the investigation was ongoing.
Movie fans and the film industry were left in shock after Williams' death in Tiburon, Marin County, north of San Francisco.
The US star of hit movies including Good Will Hunting, Mrs Doubtfire and Good Morning, Vietnam had recently grappled with severe depression.
He battled addiction for decades and checked himself back into rehab last month.
His wife said she had "lost my husband and my best friend, while the world lost one of its most beloved artists and beautiful human beings. I am utterly heartbroken.
"As he is remembered, it is our hope the focus will not be on Robin's death, but on the countless moments of joy and laughter he gave to millions".
US President Barack Obama said: "He was one of a kind. He made us laugh. He made us cry."
Prince Charles, who met Williams several times, also paid tribute, saying: "He was a remarkable man, whose wonderful frenetic humour brought a special kind of laughter into people's lives."
Source: BFM TV
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