The eight-part drama, which is based on a novel by Ken Follett, is set 200 years after Pillars and focuses on normal people struggling with high taxes, the plague, and the Church of England's war with France.
Wuthering Heights star Charlotte Riley has landed the lead role of Caris, Deadline reports.
Caris, who is described as a "visionary woman", begins to build a community to stand up to the King and the Church.
Nixon will play an attractive but "deadly" woman called Petranilla, while Richardson will star as Mother Cecilia, who is described as "strong and determined". Meanwhile, Spooks star Peter Firth will play Earl Roland and Ben Chaplin has landed the role of Sir Thomas Langley.
Rupert Evans, Nora von Waldstatten, OIiver Jackson-Cohen, Megan Follows and Sarah Gadon have also been cast in the project, which is rumoured to have a budget of $44m.
Filming for World Without End will begin in Hungary next month. The drama will air on Channel 4 in the UK but has not yet been attached to a US network.