The beloved police procedural, starring Malik Yoba, Luna Lauren Velez and Michael DeLorenzo, aired on Fox from 1994 to 1999 The cast of New York Undercover is hitting the road! In PEOPLE's ...

In those messages he requested that the undercover officer, posing as a 13-year old girl, send him child sexual abuse material. He also reportedly told her that he planned to travel from New York ...