The 50-year-old Belgian joined the Ibrox club in October, winning the League Cup and finishing as runner-up in the Premiership and Scottish Cup.
“I have fallen in love with the club, with the fans, the stadium and with the city,” Clement told the club website.
“I see huge potential and now we need to make the club better and stronger in every department, that is our goal, and we are all really aligned about that.”
The new deal for the former Club Bruges and Monaco boss – announced on the eve of the first weekend of the Premiership season – adds another 12 months to the terms he agreed on arrival at Rangers.
Clement has been rebuilding his squad, with experienced players Connor Goldson, Ryan Jack, Borna Barisic, John Lundstram, Sam Lammers and Kemar Roofe among the summer departures.
“Philippe and I had a far-reaching conversation at the end of May,” said Rangers chairman John Bennett.
“Our shared ambition was clear: the rebuild of the Rangers men’s first team for the long term as well as short term.
“At that meeting we shook hands on this new contract and the board is delighted that the formalities have been concluded.”
Rangers kick off their Premiership campaign away to Hearts on Saturday.