The drama project, from Cougar Town scribe Michael McDonald, is set in a future world in which humans co-exist with life-like androids.
Primeval star Murray will play a successful attorney who campaigns for the civil rights of the 'Mechanicals', according to Deadline.
The British actor recently appeared in short-lived CBS comedy-drama Chaos and has also featured in episodes of Marple and Monarch of the Glen.
Royal Pains actor Heusinger will play a Mechanical posing as a human in the Beautiful People pilot. When his surrogate daughter is killed in a car accident, the character will be plagued by human emotions.
Heusinger appeared in a recent episode of CBS drama Unforgettable and also played a small role in 2010 film Black Swan.
House of Lies director Stephen Hopkins will helm the Beautiful People pilot, which will be co-produced by ABC Studios and Universal TV.
Other drama projects currently in development at NBC include a remake of Danish drama Borgen, a modern-day update of Frankenstein and an adaptation of 1984 movie Romancing The Stone.