"We are thrilled that Leslie Frazier will continue to lead this football team," said Vikings Owner Zygi Wilf in a team statement.
"Our players and entire organization have great respect for Leslie. He has a vast knowledge of the game, both as a former player and as a coach, and he has a terrific way with those who play for him and work with him.
Although Frazier's record was an unspectacular 3-3, the performances of the team improved during his reign despite the problems at quarterback where Brett Favre struggled and was then injured.
The team won twice on the road under Frazier after having lost the previous nine consecutive away games.
Frazier was defensive coordinator under Childress and has previously worked at Indianapolis, Cincinnati and Philadelphia.
(Reporting by Simon Evans, editing by Steve Ginsburg)