Rabiot was set to become a free agent from July and had been heavily linked with a move to Manchester United.
The 28-year-old joined Juventus on a free transfer from Paris Saint Germain in the summer of 2019 and has made 177 appearances for the Bianconeri.
The France international has won the Serie A title, Coppa Italia and the Italian Super Cup during his time in Turin.
Juventus have released a statement confirming the news, which reads: "Juventus and Adrien Rabiot together again! Adrien renews until 30 June 2024 and is ready to experience more emotions with the black and white shirt. The story is not finished, we still have roads to go side by side and we are ready to continue running together towards our goals. Congratulations, Adrienne!"
Rabiot made 48 appearances across all competitions last season, scoring 11 goals and registering six assists.
Rabiot has been capped 37 times by the France national team and played six times at last year's FIFA World Cup in Qatar.
