Italian outfit Inter have confirmed that Lucio has signed a new contract with the club until June 2014.
The Brazilian has been in talks with officials for most of the summer regarding a renewal, seeing as his previous deal was set to expire in 2012.
The San Siro giants initially wanted to hand the 33-year-old a one-year extension, but the stopper's agent successfully pushed for two.
Lucio joined Inter in 2009 from German outfit Bayern Munich.
Since then the international has won six major trophies with the club, including the treble in his first season.
Lucio has made 95 appearances across all competitions for the Beneamata, scoring three goals in the process.