The 26-year-old Serbia international joined the London club in January 2008 for $8m.
After agreeing to the 5-year deal, Ivanovic said on Thursday that "my first vision was always to stay with Chelsea, there were not a lot of problems because I wanted to stay."
Ivanovic has won two FA Cups and a Premier League title with Chelsea.
He says "the three years has gone very quickly and I think it has been a success, so I hope to carry on getting better and better with Chelsea."