TV Land said Tuesday the pilot will be taped next week.
"Giant Baby" focuses on Broadway star Maddie Banks, played by Alley. Richards plays her limo driver while Perlman plays her assistant.
This would be Richards' first regular series role since his short-lived NBC sitcom aired in 2000. Before that, he played Jerry Seinfeld's kookie neighbor Cosmo Kramer on the wildly popular "Seinfeld" series.
In the meantime, Richards performed as a standup comedian. He lost his temper while being heckled at a club in 2006 and was caught on tape shouting the N-word. He later apologized.