The 29-year-old was set to see his previous deal expire in the summer but he has now decided to extend his stay at Ibrox until June 2026.
Goldson's commitment to Rangers has put an end to speculation linking him with clubs in the Premier League and Championship, including newly-promoted Nottingham Forest.
Speaking to the club's official website, manager Giovanni van Bronckhorst said: "I am delighted Connor has agreed to remain a Rangers player, as he has been fantastic for me both on and off the pitch since I arrived.
"His leadership is outstanding, and he is a huge influence on so many players around him, while his consistency of performance means he is someone I can always rely on.
"I am really looking forward to seeing Connor back for pre-season in a couple of weeks and to working with him again next year."
Goldson joined the Gers from Brighton & Hove Albion in the summer of 2018 - becoming one the first signings under former boss Steven Gerrard - and the centre-back has since become an important first-team player for the club, scoring 20 goals in 223 appearances across all competitions.
The Wolverhampton-born defender follows midfield duo Scott Arfield and Steven Davis in agreeing new deals at Ibrox, with both players extending their contracts by 12 months.
Rangers have also confirmed that striker Cedric Itten has completed a permanent switch to Swiss outfit Young Boys, ending his two-year spell with the Scottish giants.