Despite lingering knee soreness and a broken thumb that forced him to play at the end of the season with a cast on his right hand, Hali was selected in 2015 to play in the Pro Bowl for a fifth time.
Hali, 32, was second on the Chiefs with 6.5 sacks last season.
He is tied with Willie McGinest for 48th on the NFL's all-time career sack list with 86, and he is 11th in career sacks among active players.
Hali joined the Chiefs in 2006 as a first-round draft pick out of Penn State.
ESPN Chiefs reporter Adam Teicher contributed to this report.
Tamba Hali staying with Chiefs
Adam Schefter, Ed Werder and Louis Riddick react to the news that Chiefs LB Tamba Hali has reached agreement on a three-year deal to remain with the team.