MILWAUKEE -- The Milwaukee Brewers and manager Craig Counsell have agreed to a three-year contract extension through the 2020 season, it was announced Friday.

"Craig has been a Brewer in the truest sense and is as much a Brewer in here as anyone," said David Stearns, who just finished his first full season as general manager. "Craig understands the passion of this fan base."

Craig Counsell has a 134-165 record with the Brewers since taking over in May 2015 for the fired Ron Roenicke. Jamie Sabau/Getty Images

The 46-year-old Counsell, who joined Milwaukee's front office in 2012 as a special assistant to former GM Doug Melvin, just finished his first full season as skipper, going 73-89 -- a five-win improvement from 2015.

"This is really the only place I want to be part of October baseball," Counsell said. "In 2015 we knew there was going to be some pain going through this. We're taking the right steps, good steps, and now I feel like I will see it for sure."

A former infielder, Counsell played 16 years in the majors, including six seasons over two different stints with the Brewers.

Counsell grew up in the Milwaukee area. His father, John, worked in the Brewers front office in the 1980s.