Class of '09 is set in the near future when artificial intelligence has changed the U.S. criminal justice system.
The series will follow a group of FBI agents who graduated from Quantico in 2009 and reunite after the death of a mutual friend.
Henry will star as brilliant agent Tayo Miller with Mara as Amy Poet, a woman who never thought she would join law enforcement.
Smith is also executive producing, along with Nina Jacobson and Brad Simpson. Nellie Reed is producing.
Henry stars on the FX series Atlanta, while Mara previously starred in the limited series A Teacher for FX on Hulu.