The experienced Brazilian has penned a new deal that will keep him with the Giuseppe Meazza side for three more seasons
The towering centre-back's previous contract with the world champions was due to expire in 2012, but Lucio had already revealed more than once that he was keen on an extension.
La Liga outfit Malaga were hopeful of luring him away from Serie A earlier this summer, but talks never materialised following the player's preference to stay at the 2010 Champions League winners.
The 33-year-old joined Inter from Bayern Munich ahead of the 2009-10 campaign and has since become a key player at the Italian giants, making 95 appearances and scoring three goals in the process.
He has won one Serie A title, two Coppa Italia trophies, the Supercoppa Italiana, the Champions League and the Club World Cup in a hugely successful two years at the Giuseppe Meazza.