The 47-year-old actor will appear in a guest role in the fifth episode of the CBS show, which airs October 25, reported Deadline.
As per the plot, Moore's character is coming back to help his 'Baby Girl' (nickname for Kirsten Vangsness' character) Penelope Garcia handle a case that has affected her emotionally.
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Moore was an original "Criminal Minds" cast member from 2005-2016. Morgan's character was last seen when he had survived a kidnapping and left the BAU to focus on life and family.
The crime-drama also features Joe Mantegna, Paget Brewster, Matthew Gray Gubler, A J Cook, Aisha Tyler, Kirsten Vangsness, Adam Rodriguez and Daniel Henney.