In 62 games with the Penguins this past season, Staal registered 25 goals and 25 assists for 50 points.
"We are very pleased that Jordan has chosen to commit to the Hurricanes organization and to make North Carolina his home," said Hurricanes GM Jim Rutherford. "At 23 years old he is just starting to come into his prime, and he now represents a cornerstone of our franchise for the long term."
In six NHL seasons with Pittsburgh, Staal has accumulated 120 goals and 128 assists for 248 points in 431 regular-season games.
The Penguins selected Staal in the first round, second overall, in the 2006 NHL Entry Draft. He is the younger brother of Hurricanes captain Eric Staal.