The former Manchester City winger has rebuilt his career with the Rossoneri this season.
Robinho said: “Milan is Brazilian in spirit. It's impossible not to be happy here.
“I won't move anymore. I will stay in red and black for another 10 years. Football is my passion and thanks to Milan I am happy again.
“My wife is also happy here. Our second child will be born in March, another boy. But we have yet to decide on the name.
“Milan is an important chance that I don't want to miss. I know myself. I know that when I am physically healthy and I feel at home I can give my best.
“Milan is the ideal environment.”