The crime thriller - starring Rupert Penry-Jones, Phil Davis and Steve Pemberton - will begin filming six new episodes, comprising three two-part stories, later this year.
The League of Gentlemen star Pemberton - who plays Edward Buchan - will also write the second two-parter.
"I'm thrilled that the audience enjoyed our new formatted triple dose of Whitechapel as much as we enjoyed making them," said executive producer Sally Woodward Gentle. "With the brilliant, inventive mind of Steve Pemberton behind one of the stories, Whitechapel promises to reach new thrilling depths."
ITV's director of drama Laura Mackie added: "The first full series of Whitechapel was a huge hit with the ITV audience with its unique take on the crime genre and the brilliantly original combination of Chandler (Penry-Jones), Miles (Davis) and Buchan. I'm so pleased that they're coming back to solve more historically-inspired crimes."
Whitechapel debuted in 2009, pulling in overnight ratings of 8.13 million viewers. The ratings average for series two was 6.5 million, while the most recent third run - broadcast last year - saw a rise to 7m.
The new series will be produced by Patrick Schweitzer and executive produced by Any Human Heart's Woodward Gentle. The Last Weekend's Jon East will return to direct two of the stories.