The veteran midfielder was set to become a free agent this summer but has penned fresh terms with the recently-crowned Italian champions which will keep him in Turin until June 30, 2016.
A statement from Juventus read: "Andrea Pirlo's fantastic story with the Bianconeri continues.
"The "Professor" has signed a contract extension that will keep him at Juventus until June 30, 2016."
Pirlo, who was voted the 2012-13 Player of the Year in Serie A by his peers, has enjoyed another solid campaign with the Turin club.
The 35-year-old scored four goals in 29 league appearances to help the Bianconeri clinch their third straight Scudetto.
The Italy international joined Juve from AC Milan in 2011 and has been a regular in Antonio Conte's starting 11.
Pirlo is currently training with the national team in Brazil in preparation for Italy's World Cup opener against England on Saturday in Manaus.