The circuit in the midwest of Brazil, some 200km from Brasilia, hosted MotoGP from 1987-89 before the championship moved to Sao Paulo in 1992 and then Rio de Janeiro from 1995 to 2004.
"This new agreement also offers a fantastic opportunity to expand in a key market for the sport and our manufacturers," said Carmelo Ezpeleta, the CEO of MotoGP rights holder Dorna Sports.
"Brazil is a global player and somewhere we have always believed deserves a space on our calendar."