The Championship play-off final was won by Frank's side.
Frank has signed a new contract with the club that runs until the end of the 25th season.
The Bees ended a 74-year exile from the top flight under the leadership of the Danes.
Brian Riemer has also signed a new contract.
"They have been an important part of the success that we've shared over recent seasons," said Phil Giles, director of football.
To compete with clubs far bigger than us and to see how far we can progress is what we want to do.
"I am sure that we can build on the success that Thomas and Brian have helped deliver along with all of the other staff and players and look forward to what I hope will be a successful conclusion to the season and beyond."
After Dean Smith left to take over as Villa boss, Frank stepped in and became the new manager of Brentford.
The Bees are 14th with 23 points from 23 games after their 2-0 win over Arsenal in the first game of the season.
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