The Brazilian had been linked with a move away from the club this summer to reunite with Santos but has put pen to paper on a new three-year contract at San Siro
The Brazilian attacker first moved to the club from Manchester City back in 2010 but his current contract was set to expire in 2014.
However, he has now put pen to paper on a new three-year contract.
"AC Milan announce that Robinho has extended his contract to June 30, 2014," ran a statement on the club's official website.
The 29-year-old had been heavily linked with a return to boyhood club Santos this summer but the Sao Paulo giants proved unable to finance the move.