Fox picked up Touch, which is created by Heroes's Tim Kring, at the New York Upfronts earlier this year.
Mbatha-Raw and Lethal Weapon star Danny Glover have since been added to the cast alongside 24 actor Sutherland.
The project focuses on Martin (Sutherland), who discovers that his autistic son Jake (David Mazouz) may have the power to predict events before they happen.
Touch will premiere in mid-season, although shooting has not yet begun because of Sutherland's Broadway commitments.
Fox's entertainment president Kevin Reilly previously described Touch as "a compelling drama" with "a really extraordinary [pilot] script".
British actress Mbatha-Raw is most famous for her role in J.J Abrams's shortlived NBC dramedy Undercovers.