Experiments based on cavity quantum electrodynamics (QED) are widely used to study the interaction of a light field with a discrete frequency spectrum and emitters. More recently, the field of waveguide QED has attracted interest due to the strong interaction between propagating photons and emitters that can be obtained in nanophotonic waveguides, where a continuum of frequency modes is allowed. Both cavity and waveguide QED share the common goal of harnessing and deepening the understanding of light-matter coupling. However, they often rely on very different experimental setups and theoretical descriptions. Here, we experimentally investigate the transition from cavity to waveguide QED with an ensemble of cold atoms that is coupled to a fiber-ring resonator, which contains a nanofiber section. By varying the length of the resonator from a few meters to several tens of meters, we tailor the spectral density of modes of the resonator while remaining in the strong coupling regime. When increasing the resonator length, we observe a continuous transition from the paradigmatic Rabi oscillations of cavity QED to non-Markovian dynamics reminiscent of waveguide QED.