The Firefly actress will play the wife of FBI agent Jack Crawford (Laurence Fishburne), according to TVLine.
In real life, Torres has been married to Fishburne since 2002 and the couple have a daughter, Delilah, together.
Hannibal is based on Thomas Harris novel Red Dragon and will star Casino Royale's Mads Mikkelsen as cannibal killer Hannibal Lecter.
Torres has joined the show in a recurring capacity, meaning that her new role will not interfere with her series regular status on USA's Suits, which was recently picked up for a third season.
The 43-year-old's previous credits include roles in Alias, Firefly and Gossip Girl. She also previously worked with Hannibal showrunner Bryan Fuller on an episode of his ABC series Pushing Daisies.
Other stars already attached to Hannibal include Chelan Simmons (Wonderfalls), Lara Jean Chorostecki (Camelot) and Hugh Dancy - who will play Lecter's nemesis Will Graham.
The series is expected to premiere on NBC in 2013.
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Watch the trailer for the 2002 film version of Red Dragon below: