Terms of the contract were not disclosed.
Martindale led the NFL's fourth-ranked defense, with the Ravens allowing 300.6 yards per game in 2019. The club ranked sixth against the pass, fifth against the run, and third in points allowed per game (17.6).
Martindale joined Baltimore in 2018, and the team finished the year ranked first in total defense.
The Ravens' coaching staff also features 2019 Coach of the Year John Harbaugh and Greg Roman, the Assistant Coach of the Year this past campaign and the team's offensive coordinator.
While Martindale appears tied to the Ravens for the foreseeable future, Roman is rumored to be the University of Colorado's target in its search for a new head coach, according to Rivals.com.