The currently-untitled pilot stars Martin Lawrence as a widowed father of two teenagers named Ty, who embarks on a police career.
My Name is Earl actor Suplee will play Ty's "earnest" new police partner, while Die Hard 2 star Amos will appear as Captain Lorenzo, Ty's commanding officer, reports Deadline.
Child actress Sydney Park has also joined the cast as Kim, Ty's 16-year-old daughter.
Scary Movie actress Regina Hall signed up for the pilot yesterday as Ty's fellow officer Lisa.
The project will be directed by former Wonder Years actor Fred Savage.