The industrious midfielder has been ever present in Darrell Clarke's side since arriving from Torquay United in the summer of 2014.
Lee has gone on to make 77 appearances in the blue and white quarters as well as scoring that fateful penalty at Wembley last May.
On completion of his new contract, Lee told us "I'm delighted to have signed again and really looking forward to getting stuck into League One.
"I've had a fantastic and successful two seasons with the club and look forward to hopefully another one this coming season."
Mansell becomes the fifth player from the promotion winning squad to agree a new contract with the club, following teammates Steve Mildenhall, Daniel Leadbitter and Billy Bodin and James Clarke and club Chairman Steve Hamer is happy to have secured his services.
"Lee Mansell will forever be a name etched in the folklore of Bristol Rovers Football Club.
"He's a great professional, a leader both on and off the field and a player you need in the team if you're ever sailing on choppy waters and it's great to have him as part of our squad for 2016/2017 season"