The comedy, which is currently untitled, stars Andrew J West as a doctor called Adam who joins his family's medical practice.
According to Deadline, Lloyd has now signed up to play Adam's grandfather Dr. Robert Foote.
Jere Burns, Jean Smart and Audrey Esparza have already landed roles in the project, which is in contention for NBC's 2011-2012 season.
The comedy has been penned by Parks And Recreation writer Dan Goor.
Lloyd has previously had guest roles in shows such as Fringe and Chuck and has worked on movies including Back To The Future and One Flew Over The Cuckoo's Nest.
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