The 35-year-old forward had 15 points (seven goals, eight assists) in 68 regular-season games and five points (two goals, three assists) in 20 Stanley Cup Playoff games to help the Avalanche win the Cup last season.
"Darren was an invaluable member of our championship team last season, especially during the playoffs," Avalanche general manager Chris MacFarland said. "He brings a high-compete, high-energy level and veteran leadership to our group. We are excited to have him back for another season."
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Selected by the Detroit Red Wings in the fifth round (No. 132) of the 2005 NHL Draft, Helm has 266 points (119 goals, 147 assists) in 812 regular-season games for the Avalanche and Red Wings, and 26 points (13 goals, 13 assists) in 102 playoff games.
Helm won the Stanley Cup with Detroit in 2008.
Defenseman Josh Manson signed a four-year contract and forward Artturi Lehkonen signed a five-year contract to remain with the Avalanche on Wednesday.
