The network's singing competition dropped just 6% from last week with a rating of 3.0 in the key demo. It was second most watched overall with about 10.8 million viewers.
The lead-in from "The Voice" helped "State of Affairs" debut to a rating of 2.2 in the key demo. The show had a decent turnout, averaging 8.6 million viewers.
This is NBC's second-highest-rated drama debut in more than two years (excluding special previews) since "Revolution" on Sept. 17, 2012.
Heigl, who is also serves as an executive producer on the series, plays CIA analyst Charleston "Charlie" Tucker, who has a complicated history with the president she serves (played by Alfre Woodard).
Overall, NBC drew about 10 million viewers and won the key demo with a rating of 2.7.
The network was the most watched of the night with about 13 million viewers overall. It posted a rating of 2.3 in the key demo.
Fox's "Gotham" rounded out the top three most-watched programs in the key demo with a rating of 2.3, up 5% from last week. It stayed even in total viewers, averaging 6.4 million.
"Sleepy Hollow" stayed steady with last week's episode with a rating of 1.5 in the key demo and about 4.6 million viewers.
Fox earned a rating of 1.9 in the key demo and averaged 5.5 million viewers.
"2 Broke Girls" was up 11% from last week with a rating of 2.1 in the key demo, making it the fifth most-watched program in the key demo. About 7.9 million people tuned in.
Though "Scorpion" nabbed the most viewers for the network -- 10 million -- it stayed even with last week's rating of 2.0 in the key demo.
"The Millers" earned a rating of 1.5 in the key demo and averaged 6.3 million viewers.