The Breaking Bad star will appear in an upcoming episode of the show as a hostage negotiator, TV Line reports.
His character appears when Castle (Nathan Fillion) and Martha (Susan Sullivan) get caught up in a bank heist.
As well as starring in Breaking Bad, Norris has had guest roles in shows such as CSI, 24 and Medium.
Last month, it emerged that he has also signed up to appear in CSI: NY.
Other stars who have landed roles in the fourth season of Castle include Jessica Tuck, Kristin Lehman and William Atherton.
The show returns tonight at 10/9c on ABC.
Watch a preview of the new season of Castle below: