Adam Baldwin has joined the cast of Fox's upcoming drama series "The Inside."

"The Inside," from 20th Century Fox Television and studio-based Imagine Television, centers on a young, ambitious FBI agent (Rachel Nichols) who is assigned to the agency's Los Angeles Violent Crimes Division.

Baldwin will play a tough, seasoned FBI agent, a man's man with 25 years on the job.

Also starring in the series is Jay Harrington, who plays an FBI agent (HR 12/13).

Baldwin, who co-starred in Joss Whedon's short-lived sci-fi drama for Fox "Firefly," will next be seen in "Serenity," Whedon's feature adaptation of the series, in which the actor reprises his role as Jayne Cobb.

Baldwin, whose feature credits also include "Full Metal Jacket," is repped by Innovative Artists Agency and manager Steven Siebert of Lighthouse Entertainment.