The previous deal was set to end in 2013, which with Ocado preparing for a stockmarket flotation may have concerned some potential investors.
That deal allowed Waitrose to take its own delivery service, Waitrose Deliver, inside the M25 in 2012. The new deal brings that date forward to July 2011.
The terms prevent Ocado from doing similar deals with other supermarkets that would see them supply it.
Tim Steiner, chief executive of Ocado, said: "Waitrose is a fantastic brand and a great partner with whom we have worked so successfully together for the last decade. This new agreement enables both sides to continue to grow and benefit from the relationship."
Mark Price, managing director of Waitrose, said: "Waitrose and Ocado have worked well together for many years and are complementary businesses with a shared passion for high quality food, outstanding customer service and great value. This new agreement paves the way for another long period of growth together."
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