The ABC drama series stars Judd as retired CIA agent Becca Winston, who goes on her own to search for her missing son.
The drama also features Sean Bean, Cliff Curtis, Nick Eversman, Jason Wong and Adriano Giannini. Bean plays Becca's husband , while Eversman plays their missing son.
"I fell in love with her when she was on Star Trek, when she was 17 or something. She's just amazing," Poirier told Collider. "She has so much soul to her. Honestly, she was our first choice.
"I know every creator says that about their lead, but it's absolutely true. She was the prototype for this role. It's a number of things. She has an ability to show a depth of character, but also a vulnerability, and she can show her pain. At the same time, she can kick ass.
"She gave me the luxury of being able to write a really complex character because she can go so many different places."
Missing will premiere on Thursday, March 15 at 8pm ET on ABC.
Watch the trailer of Missing below: