The comedy stars Julia Louis-Dreyfus as former senator Selina Meyer, who ends up becoming vice-president.
Deadline says that Hale has now joined the cast as Selina's right-hand man.
Hale had been linked to ABC's project Awkward Situations For Men but was released by the network so that he could join Veep.
The actor previously starred in Arrested Development and Chuck and has recently had guest roles in shows including Human Target, Justified, Community and Numb3rs.
Veep, which has been created by The Thick Of It and In The Loop scribe Armando Iannucci, also stars Anna Chlumsky, Reid Scott, Tim Simons and Matt Walsh.