Taylor was shot and killed in March when the Louisville cops broke into the wrong home.
Williams also attended a George Floyd protest in June in Atlanta and was hit with tear gas.
"Yes, I took some gas and to my eyes, and I had to have milk and water poured in my face. Listen, I'm all right, I'm all right," Williams told ET. "And everyone else who's out there fighting the good fight, they will also be all right, but it has to be known, it has to be demanded, that we are able to peacefully protest.”
“Say Her Name” rally and march organizers Zoe Bambara (from left) and Mary-Pat Hector stand in solidarity with Porsha Williams, granddaughter of Hosea Williams, and hundreds of other supporters before they march to Atlanta City Hall during the 10th day of protests in Atlanta. ALYSSA POINTER / ALYSSA.POINTER@AJC.COM
Williams’ grandfather was civil rights leader Hosea Williams, who created Hosea Feed the Hungry and Homeless and died in 2000.
She has been on “Real Housewives” since season three and is also a host on the syndicated gossip show “Dish Nation.”