The golf star was found passed out in his Mercedes with prescription drugs and marijuana in his system five months ago.
Woods, 41, spoke only briefly during a hearing at a Palm Beach County courthouse in Florida, USA.
Prosecutors dropped his driving under the influence charge and Judge Sandra Bosso-Pardo warned him to stay out of trouble.
She said: “This particular plea agreement has no jail time on it.
“However, if you violate your probation in any significant way I could revoke your probation and then I could sentence you to jail for 90 days with a fine of up to $500. Is that understood?”
Woods nodded but did not make any statement outside the court.
In the rehabilitation programme, he will spend a year on probation and pay a $250 (£190) fine and court costs.
He has already met some of the programme’s other requirements, completing 50 hours of community service at the Tiger Woods Foundation, a children’s charity he founded in 1996.