The 29-year-old, who still has 12 months on his current contract, has extended his stay with Caley Thistle through to the summer of 2017.
Warren told his club's website: "I've really enjoyed living in Inverness and playing at the top level.
"Playing for this club is a real privilege, I have never been at a club before that embraces and engages with the community as we do at ICTFC.
"We may be small in numbers in comparison to other clubs but we have something special from top to bottom.
"Finishing in the top five two seasons running is quite an achievement and we're looking to build on that.
"We will always look for continual improvement, that's just the way we are at the club."
The Englishman, who has made 78 appearances in his two seasons at Inverness, is also planning to further his career as a coach.
He added: "I am keen to start my coaching badges and have discussed and agreed this with the chairman (Kenny Cameron) and John (Hughes, manager).
"I see this as adding a further dimension to my game and I am keen to help and assist the club in any way I can."
Hughes said: "Gary is a fine player and a great type to have at the club so I'm very pleased that he has committed himself to us.
"This is an important step towards the continuity and stability of our squad which I'm seeking."