The Patrick Warburton-starring sitcom will return for a seventh season, comprising 13 episodes.
The new season will see the comedy hit 100 episodes in total.
The order ends weeks of serious talks between CBS and producers Sony Pictures TV, which meant that its renewal was not made in time for the network's upfront presentation last week.
The Big Bang Theory, How I Met Your Mother and Two and a Half Men are among the other sitcoms that will return on CBS for its fall schedule.
It is currently unclear where Rules of Engagement will fit into the CBS schedule.
Patrick Warburton slammed CBS last year for its poor timeslot, which led to the show being temporarily pulled from its midseason schedule.