The 23-year-old fly half is now eager to kick on and prove his worth to supporters and has targeted promotion back to the Aviva Premiership as his immediate goal after pledging his future to the Sixways club.
"I'm over the moon to sign," said Carlisle. "I have thoroughly enjoyed my time at Warriors already, especially working with Richard Hill and Phil Davies. I feel like I have improved a lot this season and can't wait for the next two years.
"I enjoy coming to work and working with the people here. I have known Andrew Stanley and Gary Meechan for a long time and they have taught me a huge amount, I wouldn't be anywhere near close to where I am now without those two.
"I have also been very lucky to have a mentor like Andy Goode. He is always on hand if I have any queries or questions that I have to ask.
"The amount of game time I have had this year, compared to previous seasons, has helped me take a step in the right direction and hopefully next year, when we go back up, I can get better and start taking more games off Goodey," he added.
"We are now all looking towards the play-offs. We have been working towards this all season and now it is crunch time. Everyone wants to be playing and when given the opportunity you have got to take it."
Watch Joe Carlisle and the Warriors tackle Cornish Pirates in the British & Irish Cup this Saturday at Sixways (kick-off 3pm). Call the Warriors Box Office on 01905 454183 or click HERE to book your seat.