The 28-year-old defender's new deal ensures he will be at the KC Stadium until at least 2015, and comes hot on the heels of fellow defender James Chester's decision to sign a new contract.
Rosenior is looking forward to concentrating on a return to the Premier League, after his previous spells with Fulham and Reading.
He told the club website: "I've been waiting for four or five years to get back to the Premier League and prove that I can play at that level," said Rosenior.
"If I can get the chance, I want to prove to everyone and also to myself that I'm good enough to play well in this league and help the club to get results."
Rosenior, who joined the Tigers in 2010, added: "Because we've come up from the Championship, we will be viewed as underdogs but I think we can use that to our advantage.
"Having the opportunity to play in the Premier League again is one that I want to take and I'm very much looking forward to it."
It has been a busy week for the East Yorkshire club who, in addition to agreeing new deals for Rosenior and Chester, also completed the signing of Curtis Davies from Birmingham for an undisclosed fee.
Manager Steve Bruce had already brought in George Boyd and Maynor Figueroa as he looks to strengthen his squad ahead of their return to the Premier League.