He'll play a special agent who is a member of the FBI Fugitive Task Force and joins the Behavioral Analysis Unit, and will be introduced in the Season 12 premiere.
"We're all big fans of Adam's and are excited to welcome him back to the CBS family as part of the terrific cast of 'Criminal Minds,'" said Glenn Geller, President, CBS Entertainment.
"We're thrilled to introduce a new special agent by adding the very talented Adam Rodriguez to our amazing cast," said Erica Messer, executive producer and showrunner on the long-running procedural. "We have exciting storylines planned for his character and the entire BAU team as we head into our 12th season."
See photos of Adam Rodriguez throughout his career:
'Criminal Minds' casts Adam Rodriguez as series regular for season 12
LOS ANGELES - NOVEMBER 16: âFriendly Fireâ-- Delko (Adam Rodriguez) investigates when an eccentric genius is assassinated with the most unique weapon the CSIs have ever seen, on CSI: MIAMI, Sunday, Jan. 8 (10:00-11:00 PM, ET/PT) on the CBS Television Network. (Photo by Monty Brinton/CBS via Getty Images)
INGLEWOOD, CALIFORNIA - APRIL 03: Actor Adam Rodriguez speaks onstage during the iHeartRadio Music Awards at The Forum on April 3, 2016 in Inglewood, California. (Photo by Rich Polk/Getty Images for iHeartRadio / Turner)
BEVERLY HILLS, CA - FEBRUARY 23: Adam Rodriguez attends the 18th Costume Designers Guild Awards at The Beverly Hilton Hotel on February 23, 2016 in Beverly Hills, California. (Photo by JB Lacroix/WireImage)
BEVERLY HILLS, CA - FEBRUARY 23: Actor Adam Rodriguez (L) and actress/model Emily Ratajkowski speak onstage during the 18th Costume Designers Guild Awards with Presenting Sponsor LACOSTE at The Beverly Hilton Hotel on February 23, 2016 in Beverly Hills, California. (Photo by Kevin Winter/Getty Images)
HOLLYWOOD, CA - DECEMBER 03: Actor Adam Rodriguez arrives at 'The Beauty Book For Brain Cancer' edition 2 launch party at Le Jardin on December 3, 2015 in Hollywood, California. (Photo by Jerod Harris/WireImage)
LOS ANGELES, CA - DECEMBER 03: Ryan Phillippe (L) and Adam Rodriguez attend 'The Beauty Book For Brain Cancer' Edition Two Launch Party sponsored by Voices Against Brain Cancer on December 3, 2015 in Los Angeles, California. (Photo by Joshua Blanchard/Getty Images for Voices Against Brain Cancer)
NEW YORK, NY - SEPTEMBER 12: Adam Rodriguez attends the 'Empire' Series Season 2 New York Premiere at Carnegie Hall on September 12, 2015 in New York City. (Photo by D Dipasupil/FilmMagic)
EMPIRE: L-R: Guest star Adam Rodriguez and Taraji P. Henson in the True Love Never episode of EMPIRE airing Wednesday, Nov. 11 (9:00-10:00 PM ET/PT) on FOX. (Photo by FOX via Getty Images)
EMPIRE: L-R: Guest star Adam Rodriguez and Taraji P. Henson in the A High Hope For A Low Heaven episode of EMPIRE airing Wednesday, Nov. 4 (9:00-10:00 PM ET/PT) on FOX. (Photo by FOX via Getty Images)
AMSTERDAM, NETHERLANDS - JULY 1: (L-R) Joe Manganiello, Adam Rodriguez, Channing Tatum and Matt Bomer attend the Amsterdam premiere of 'Magic Mike XXL' on July 1, 2015 in Amsterdam, Netherlands. (Photo by Michel Porro/WireImage)
LONDON, ENGLAND - JUNE 30: Adam Rodriguez attends the European Premiere of 'Magic Mike XXL' at Vue West End on June 30, 2015 in London, England. (Photo by Karwai Tang/WireImage)
LONDON, ENGLAND - JUNE 30: Adam Rodriguez (L) and Grace Gail attend the UK Premiere of 'Magic Mike XXL' at the Vue West End on June 30, 2015 in London, England. (Photo by David M. Benett/Dave Benett/WireImage)
HOLLYWOOD, CA - JUNE 25: Actor Adam Rodriguez attends the premiere of Warner Bros. Pictures' 'Magic Mike XXL' at the TCL Chinese Theatre IMAX on June 25, 2015 in Hollywood, California. (Photo by David Livingston/Getty Images)
MIAMI, FL - JUNE 24: (EXCLUSIVE COVERAGE) Joe Manganiello Adam Rodriguez,Matt Bomer and Jada Pinkett Smith surprise audience at 'Magic Mike XXL' screening at Regal South Beach on June 24, 2015 in Miami, Florida. (Photo by Gustavo Caballero/Getty Images)
MIAMI, FL - JUNE 24: Adam Rodriguez attends as the 'Magic Mike XXL' cast are honored with stars on The Official Miami Walk Of Fame at Bayside Marketplace on June 24, 2015 in Miami, Florida. (Photo by Johnny Louis/FilmMagic)
LAS VEGAS, CA - APRIL 21: Actor Adam Rodriguez arrives at Warner Bros. Pictures The Big Picture at The Colosseum at Caesars Palace during CinemaCon, the official convention of the National Association of Theatre Owners, on April 21, 2015 in Las Vegas, Nevada. (Photo by Jeffrey Mayer/WireImage)
LOS ANGELES, CA - APRIL 12: Actors Matt Bomer (L) and Adam Rodriguez speak onstage during The 2015 MTV Movie Awards at Nokia Theatre L.A. Live on April 12, 2015 in Los Angeles, California. (Photo by Kevork Djansezian/MTV1415/Getty Images for MTV)
WEST HOLLYWOOD, CA - MARCH 05: Actor Adam Rodriguez attends the 2nd Annual Hollywood Heals: Spotlight On Tourette Syndrome at House of Blues Sunset Strip on March 5, 2015 in West Hollywood, California. (Photo by David Livingston/Getty Images)
WASHINGTON, DC - MARCH 04: Adam Rodriguez attends Voto Latino's 10th Anniversary Celebration at Hamilton Live on March 4, 2015 in Washington, DC. (Photo by Larry French/Getty Images)
SAVANNAH, GA - OCTOBER 26: (L-R) Joe Manganiello, Adam Rodriguez, Stephen Boss and Donald Glover pose for a photo backstage during Matt Bomer Spotlight Award Tribute at Trustees Theater on Day Two of the 17th Annual Savannah Film Festival presented by SCAD on October 26, 2014 in Savannah, Georgia. (Photo by Andrew H. Walker/Getty Images for SCAD)
MONTE-CARLO, MONACO - JUNE 09: Adam Rodriguez attends a Cocktail Reception at the Ministere d'etat on June 9, 2014 in Monte-Carlo, Monaco. (Photo by Pool Barson/FilmMagic)
MONTE-CARLO, MONACO - JUNE 09: Adam Rodriguez attends 'Reckless' photocall at the Grimaldi Forum on June 9, 2014 in Monte-Carlo, Monaco. (Photo by Tony Barson/FilmMagic)
MONTE-CARLO, MONACO - JUNE 07: Adam Rodriguez attends the opening ceremony of the 54th Monte Carlo TV Festival at the Grimaldi Forum on June 7, 2014 in Monte-Carlo, Monaco. (Photo by Tony Barson/FilmMagic)
BEVERLY HILLS, CA - FEBRUARY 28: Adam Rodriguez attends the 17th Annual NHMC Impact Awards Gala held at Regent Beverly Wilshire Hotel on February 28, 2014 in Beverly Hills, California. (Photo by JB Lacroix/WireImage)
LOS ANGELES - SEPTEMBER 7: 'Killer Regrets' -- Horatio protects a Mexican police chief from the mysterious assassin who killed her husband, on CSI: MIAMI, Sunday, Oct. 23 (10:00-11:00 PM, ET/PT) on the CBS Television Network. Pictured: Adam Rodriguez as Eric Delko.(Photo by Sonja Flemming/CBS via Getty Images)
LOS ANGELES - SEPTEMBER 10: 'Reality Kills' -- When a reality star is murdered, the CSIs investigate the cast, the obsessed fans, and the stars' hidden pasts to find the killer, on CSI: MIAMI, Sunday, Oct. 31 (10:00-11:00 PM, ET/PT). Pictured (L-R) Adam Rodriguez as Eric Delko, David Caruso as Horatio Caine and Jonathan Togo as Ryan Wolfe. (Photo by Cliff Lipson/CBS via Getty Images)
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Rodriguez was most recently seen in recurring roles on "Jane the Virgin" and "Empire." He previously appeared on CBS playing Eric Delko for 11 seasons on "CSI: Miami," and on the network's drama "Reckless." He's also held roles on "The Night Shift," "The Goodwin Games," "Necessary Roughness," "Ugly Betty," "Roswell" and "Resurrection Blvd." On the big screen, Rodriguez has starred in "Magic Mike" and its sequel "XXL," "I Can Do Bad All by Myself," "About Last Night," "Caught in the Crossfire" and "Let the Game Begin," among others. He's repped by UTA and Abe Hoch at A Management.
"Criminal Minds" stars Joe Mantegna, Thomas Gibson, Matthew Gray Gubler, A.J. Cook and Kirsten Vangsness. It is produced by ABC Studios in association with CBS Television Studios.