Vaughan said: “It is a personal privilege to be asked by the Commissioner to stay on in my role.
“I have really enjoyed leading this fantastic organisation for the last eight months and seeing the great work officers, staff and volunteers do every day to keep our communities safe.
“Despite some challenging times we have made considerable progress over the last few years and that is testament to the hard work of everyone in the force.”
Since his recruitment, the force has been moved out of special measures.
The process to recruit a substantive Chief Constable is planned to begin in the summer of next year.