The 24-year-old, signed by previous manager Andy Scott from Derby in June 2011, put pen to paper on Friday afternoon.
"I'm delighted that Ben has committed his future to Rotherham United," said manager Steve Evans.
"The situation with Ben came to a head when we received two good offers for him in the last week.
"But my chairman Tony Stewart has stayed true to his word and turned them down while at the same time appreciating the fact we could have lost a player in May for nothing."
Pringle has played a key role for Steve Evans' side this season, making 31 appearances in all competitions, scoring six goals.