This paper addresses the perturbation of higher-dimensional non-smooth autonomous differential systems characterized by two zones separated by a codimension-one manifold, with an integral manifold foliated by crossing periodic solutions. Our primary focus is on developing the Melnikov method to analyze the emergence of limit cycles originating from the periodic integral manifold. While previous studies have explored the Melnikov method for autonomous perturbations of non-smooth differential systems with a linear switching manifold and with a periodic integral manifold, either open or of codimension 1, our work extends to non-smooth differential systems with a non-linear switching manifold and more general periodic integral manifolds, where the persistence of periodic orbits is of interest. We illustrate our findings through several examples, highlighting the applicability and significance of our main result.