In dashcam footage obtained by USA Today, a deputy is seen pulling over Roberts' car outside his house in the Houston suburb of Richmond, Texas.
After emerging from the vehicle with his hands up and telling the officer "This is my house," Roberts was ordered to get back in the car, which he did several seconds later.
The officer then requested backup while reporting a "big, black man" who "wouldn't comply" with his orders. It apparently took officers nine minutes to inform Roberts that he was pulled over for speeding.
Roberts' wife came out of the house to see what was happening, only to be instructed to return inside for her own safety, or face being arrested.
The fourth-year linebacker said he wanted to make the incident public after the department closed his complaint following an internal investigation.
"Unfortunately, these types of things are happening all too often to African Americans," Roberts said in a statement to Perez. "People are becoming desensitized to them. Being harassed in your own yard simply because you are a 'big black man' should never become the norm. To the person being harassed, it is frightening, disrespectful, and embarrassing.
"I have no interest in any financial gain from releasing this story. My only hope is that these types of bias-based traffic stops can end and that, perhaps, other black drivers might see how to deescalate a threatening situation."
Roberts' attorney made a request to conduct a separate inquiry into the incident but was directed by the local district attorney to contact the police's internal affairs division.
The 25-year-old is a two-time Super Bowl winner who appeared in 16 games for the Patriots last season.