The series, which received a pilot order from Fox, follows a man who shares custody of a child with an ex-wife who has married into the royal family, Deadline reported.
Engelson, a television producer behind FX's Snowfall, is developing the comedy with producers Danny Zuker (Modern Family), Jake Kasden (New Girl), and Dan Farah (The Shannara Chronicles).
Engelson and Markle do not share any kids together and characters on the show will not be based on the former couple. The idea came from Engelson and Farah after discussing what would have happened if he shared children with Markle and she ended up marrying Prince Harry.
Markle recently discussed her relationship with Prince Harry stating "We're two people who are really happy and in love."