The three celebrities will be joining previously-announced returning judge Howard Stern.
"This opinionated and talented quartet of judges provides fearless and thoughtful analysis and an infectious energy that keeps the audience wondering what will happen next. We can't wait for them to come back for another great season," NBC reality chief Paul Telegdy said in a statement.
"I'm delighted that Howard, Howie, Heidi and Mel B are back to celebrate a decade of talent on AGT," added executive producer Trish Kinane. "They are dedicated to finding the best and most eccentric performers to put before viewers in a true celebration of the American Spirit."
This will be Klum and Brown's third time judging the reality talent competition, Mandel will be back for his sixth edition, and Stern is going on his fourth season.