Ford, who initially joined as defence coach in 2012, is joined by backroom staff Toby Booth, Darren Edwards and Neal Hatley in agreeing new deals.
Under Ford's guidance Bath reached the 2015 Premiership final but lost 28-16 to Saracens at Twickenham.
"I'm absolutely delighted, I love this place," the 49-year-old told BBC Radio Bristol.
Former London Irish boss Booth, one-time Exiles prop Hatley and ex-England defence coach Ford arrived at The Rec in May 2012 to work under director of rugby Gary Gold.
Bath finished seventh in the Premiership in their first year at the club and were sitting third in the table in December when Gold was dismissed from his role, with Ford taking over at the helm.
Having committed their futures to Bath for at least four years, Ford now wants the club to win some silverware during his tenure.
"In four years' time I want us to have a few trophies," he said. "I want us to have won the European Cup - the Champions Cup - and to have won the Premiership."
Ford also paid tribute to his fellow coaches as an integral part of Bath's recent turnaround.
"What we've done over the past couple of years as a team and what we've achieved make it a great place to work," he said.
"For me to go for another four years gives me the continuity I want and the players can see that.
"We are all very ambitious and we are all on the same page in terms of the way we play. We share the same philosophy and the players seem to enjoy it."

The news comes after an online crowdfunding appeal to raise £1.6m for Dartmoor Zoo in Devon closed on Monday after raising nearly £340,000.
Director Ben Mee said the gaining of the new status meant the zoo's future was "as secure as it has ever been".
Launching the appeal last month, Mr Mee said becoming a charity that focused on research meant it could apply for grants.
The zoo launched its crowdfunding appeal as part of moves to become a charity and also to avoid job cuts.
It raised £339,930 from 745 backers in its 35-day appeal, which closed on Monday morning.
Crowdfunding backers included people pledging private donations, and Plymouth University also said it would provide £2,000 of match funding.
Launching its appeal, the zoo said: "Two global recessions and five of the wettest English summers on record have shown that this zoo needs to shift its centre of gravity from dependence on seasonal tourists towards becoming a charity focusing on research and education."
Dartmoor Zoo
1968: Opened as Dartmoor Wildlife Park
2006: Bought by Mee family for £1.1m
2011: We Bought a Zoo released starring Matt Damon and Scarlett Johansson
2014: Gains charity status
Employs: 35 people
Animals: Tigers, cheetahs, lions, wolves, raccoons, foxes, bears
Mr Mee's family, from Surrey, bought the zoo in 2006.
The 2011 film We Bought a Zoo, starring Matt Damon and Scarlett Johansson, was based on a book by Mr Mee describing his experiences.
But it had been "running reliably at a loss" for most of the time it had been in his family's possession and three staff faced losing their jobs if its finances did not improve, he previously said.
Although falling short of the crowdfunding target, Mr Mee said enough money had been raised to "ensure a smooth transition" to becoming a charity.
"The sense of relief is only beginning to wash through me," he said.

The team of Fiona Pennie, Lizzie Neave and Kimberley Woods produced a controlled effort to beat Germany into second place by over four seconds.
"The team event was a nice consolation prize after not doing as well as we'd have liked to in the individual event," said Neave.
"We all had a really good run and it's always nice to come away with a medal."
Mallory Franklin won bronze in the women's C1 in Liptovsky on Saturday, while there was also a gold for the women's C1 team and a bronze for their male counterparts.
Bath head coach Mike Ford has signed a new four-year contract with the Premiership club.
[NEXT_CONCEPT]
A zoo that inspired a Hollywood film has become a charity, its boss says.
[NEXT_CONCEPT]
Great Britain women's K1 trio won gold as GB ended the European Championships in Slovakia with four medals.