Clarke and Head to star in 'Desperados'
The pair will play old friends retiring from a life of crime in Spain to a quiet Devon fishing village "where they plan to eke out their retirement fishing and availing themselves of the NHS".
Dean Lennox Kelly and Jenny Agutter will also star in the William Ivory-penned series.
Polly Hill, the programme's commissioning editor, said: "We are thrilled to have a new series from William Ivory on BBC One, which is both smart and very funny, and which has brought together a wonderful cast – Warren Clarke, Anthony Head and Dean Lennox Kelly will be terrific as The Invisibles."
Ivory added: "It's a dream of a cast. And what's especially brilliant is the breadth of the talent on board.
"Desperados is an ensemble piece which means every character relies on the one next to them to give full value in terms of what the script is trying to achieve.
"And that means, in an ideal world, you're looking to fill every role with a heavy hitter – but in truth you seldom achieve that. This time, I think we have."