The prolific Whedon said Sunday that both ABC and Marvel have been involved in getting what they want as the series takes shape, but he added he has been allowed to fulfill his vision.
He said everyone is on the same page, while noting pointedly he hasn't always been blessed with that sort of creative relationship.
"S.H.I.E.L.D." picks up where the film "Marvel's The Avengers" left off, tracking a team of skilled agents who investigate super-human people around the world.
Whedon's credits include "Buffy the Vampire Slayer" and the "Avengers" film. He was meeting with reporters at the Television Critics Association.
"S.H.I.E.L.D." premieres Sept. 24.