The project, picked up by the network earlier this month, is from Desperate Housewives creator Marc Cherry and will focus on the war between the forces of good and evil in the town of Hallelujah, Tennessee.
TV Line reports that Martin will play a mysterious drifter who crosses paths with a stranger determined to restore peace.
The actor is best known for playing Detective Ed Green on Law & Order from 1999 to 2008. He also appeared in short-lived NBC drama The Philanthropist and starred in the 2005 film version of Rent.
Marc Cherry has written the pilot script for Hallelujah and will also executive produce alongside Sabrina Wind.