The Christian Slater comedy was originally axed by the network in May last year, but was later picked up for a second season.
Speaking at the Television Critics Association (TCA) winter press tour in Los Angeles, Goldberg explained: "[Fox chief] Kevin Reilly said, 'I want to build a whole comedy night' so he picked up the actors' options."
He added that the popularity of Zooey Deschanel's sitcom New Girl played a big part in Fox reversing its decision.
"I was in a holding pattern," explained the showrunner. "Nobody wanted New Girl to work more than I did, because that meant we could come back."
It was recently confirmed that Breaking In will undergo a cast overhaul for season two, with Michael Rosenbaum (Dutch) departing the show and House star Odette Annable (Melanie) appearing only in a recurring role.
Will & Grace actress Megan Mullally has also joined the series as new character Veronica Mann.
Breaking In will return to Fox on Tuesday, March 6 at 8.30/7.30c.
> Breaking In exec working on '80s sitcom
Watch a promo for the first season of Breaking In below: