Mitchell was a surprise choice when Paul Gustard left his role in 2018, but has provided England with a formidable defence and helped them to the 2019 World Cup final.
Mitchell, 56, has previously been head coach of the All Blacks.
“I’m really happy to sign this contract extension,” he said. “I’m thoroughly enjoying my time here with England and working with such a talented group of players, coaches and staff.
“It takes a long time to really build these relationships and I wanted to continue to carry on the work that we’re all doing to achieve just what we’re capable of here with England.
Jones said: “I’m very pleased to have Mitch here with us as we work to our goal of winning the World Cup in 2023. He’s an experienced and skilled test coach and adds great value to the coaching staff and player development.”
England begin their Six Nations campaign against Scotland at Twickenham on Saturday.