Miller - who played Skye in Fox's recently-axed sci-fi drama - will appear opposite Matthew Perry in the pilot, according to Deadline.
Go On will focus on Ryan (Perry), a charming sportscaster who suffers a personal loss and is ordered to attend mandatory therapy sessions.
Miller will play Ryan's quirky assistant. The actress will be billed as a guest star in the pilot, since she has not yet been released from her Terra Nova contract.
20th Century Fox TV is currently shopping Terra Nova to other broadcasters, including Netflix. If the series is not picked up, Miller will be free to join Go On as a series regular.
The actress has previously appeared in episodes of CSI: NY, Boston Legal and Private Practice.
Go On - written by Friends scribe Scott Silveri - will also star Julie White (Transformers) and Suzy Nakamura (Men of a Certain Age).
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Watch a clip of Allison Miller on Terra Nova below: