General manager Jeff Luhnow announced the deal Monday. It will keep Maldonado in Houston through the 2021 season.
Maldonado, 33, spent the second half of the past two seasons with the Astros after being traded in July in both 2018 and 2019. In 68 games with Maldonado behind the plate, Houston pitchers have compiled a 3.27 ERA.
Maldonado, who won a Gold Glove Award in 2017, hit .219 with 10 homers in the regular season with the Astros. He has made 12 playoff starts for Houston, which is tied for third most at catcher in franchise history behind Brad Ausmus (30) and Brian McCann (19).