The Advocates will follow a female lawyer and a male ex-con who form an unlikely partnership to become 'advocates' for legal underdogs.
UK-born Heller - who created CBS hit The Mentalist in 2008 - will write and executive produce the new pilot, according to The Hollywood Reporter.
CBS has also picked up a television version of Cameron Diaz film comedy Bad Teacher alongside The Advocates.
The network previously ordered 12 new pilots, including a Beverly Hills Cop TV series and crime drama Backstrom from Bones creator Hart Hanson.
> The Mentalist Simon Baker 'contracted for seven seasons'
Watch a clip from The Mentalist below: