Titled Miss Most Likely, Moore plays a 28-year-old woman who is the first to run away from home to a bigger city to start a new life, although her family also runs away with her, reports Deadline.
The Tangled actress will serve as an executive producer along with Rich Appel, who is also the show's writer.
Appel is a writer and executive producer for other Fox animated shows like The Cleveland Show and Family Guy.
Miss Most Likely is Moore's first starring role in television. She has guest starred in several series including Grey's Anatomy, Scrubs and Entourage.
Moore first came to fame as a singer, releasing her first album So Real in 1999.
Watch the trailer for Tangled below: