Jerry Stackhouse has signed a three-year contract extension worth approximately $21 million, the Mavericks announced Friday.

"We are happy to have Jerry back" coach Avery Johnson said in a press release. "He had other opportunities, but to have a veteran such as Stack is positive for us.

"He is a tough-minded, physical player and one of the best reserves in the league."

Stackhouse had agreed to terms in principle on July 5, but the finalized contract was announced Friday.