Former Borussia Dortmund manager Klopp took the reins at Liverpool in October 2015 and guided them to back-to-back UEFA Champions League finals in 2018 and 2019.
They won their sixth European cup last season.
“For me personally this is a statement of intent, one which is built on my knowledge of what we as a partnership have achieved so far and what is still there for us to achieve,” Klopp said in a statement on the club’s website.
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“When the call (to manage Liverpool) came in autumn 2015, I felt we were perfect for each other. If anything, now I feel I underestimated that.
“It is only with a total belief that the collaboration remains totally complementary on both sides that I am able to make this commitment to 2024.”
The club said the German manager’s assistants…