“It’s always a happy time for me, for my family. We’re settled here, we love everything about this football club and I’m glad that the journey is continuing.”
Robertson has won the Premier League, Champions League, Fifa Club World Cup and Uefa Super Cup during his time at Liverpool.
His start to this season has been hampered by ankle ligament damage he suffered in a pre-season friendly against Athletic Bilbao.
It has resulted in him missing Liverpool’s first two games of the Premier League season, victories against Norwich City and Burnley.
Robertson said the injury was “nothing too major” and he has been named in Scotland’s squad for World Cup qualifiers next month, which follow the Reds’ match against on Saturday.