The series, starring John Hannah and Suranne Jones, will debut with a 90-minute special in August.
A second two-parter - currently titled Cloth Undercover - has already begun filming and is scheduled to air in 2013.
The third Cloth outing - a two-hour TV film - has also been commissioned.
Julian Rhind-Tutt (Green Wing), Adrian Bower (Mount Pleasant), Navin Chowdhry (Teachers) and Daisy Beaumont (Star Stories) also star in the series, along with guest stars Stephen Dillane (Game of Thrones) and Anna Chancellor (The Hour).
A Touch of Cloth is a Zeppotron production and is executive produced by Charlie Brooker and Annabel Jones.
