The actor will star in several episodes of the show as an attorney working for Bree (Marcia Cross), TV Line reports.
His character is said to be conservative and forceful.
ABC has refused to reveal details of his storyline but rumours have suggested that he will help Bree to fight a charge of murder.
Bakula has previously had roles in shows such as Quantum Leap, Chuck and Men Of A Certain Age.
Other stars who have appeared in the current season of Desperate Housewives, which will be its last, include Leslie Jordan, Miguel Ferrer and Andrea Parker.
The show airs on Sundays at 9/8c on ABC.
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