Lourdes Orozco alleged in legal filings that she tripped and fell down a "dirty and poorly maintained" staircase at the couple's Hollywood Hills home in 2011, according to documents obtained by TMZ.
Orozco claims that she suffered "serious personal injury" in the fall because of alleged negligence by Huffman and Macy.
She is seeking $25,000 (£15,929) in damages from the Desperate Housewives actress and her husband.
It is not known why Orozco was at Huffman and Macy's home, nor is the nature of her relationship with the stars clear.
Macy and Huffman have not yet responded to the lawsuit.
The couple have been married since September 1997.