The 29-year-old striker was expected to leave the club this summer having slipped out of the Rossoneri first team and Milan reopened transfer talks with long-term suitors Santos at the start of the transfer window.
Robinho made his senior debut for the Vila Belmiro outfit at the age of 16 before joining Real Madrid in 2005 and, after moving to Manchester City for two inconsistent seasons, he would find himself back on loan with Santos for six months in 2010.
But, after the Brazilian club pulled out of a permanent deal last week, the Rossoneri withdrew the forward from the market and he has today agreed a prolonged stay in Milan.
A statement published on acmilan.com read: "AC Milan announce that Robinho has extended his contract to June 30, 2016."
Robinho arrived at the San Siro for 18million euros (£15million) three years ago and he has since scored 22 league goals for the Serie A giants.