The Venezuelan has yet to get off the mark in nine Grand Prix races in 2014.
But Lotus owner Gerard Lopez said: "Despite the difficulties, he recognises our true potential as a team and we recognise his true potential as a driver.
"We will achieve great things together."
Maldonado brings with him significant sponsorship funds from the Venezuelan state oil company PDVSA, which paid £30m a year for him to drive at Williams between 2011 and 2013.
He recorded his only Grand Prix victory at the Spanish Grand Prix in 2012.
Lotus finished fourth in last year's constructors' championship but have struggled this year, with Maldonado's team-mate Romain Grosjean scoring just eight points.
Before Sunday's German Grand Prix, Lopez added: "Clearly we're not where we want to be but we are going to fight hard for every point we can achieve this year."
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