Poland's Kubica is currently third in the world championship standings behind Lewis Hamilton and Felipe Massa heading into the Japan Grand Prix, while Germany's Heidfeld is fifth.
Austria's Christian Klien will remain the team's test and reserve driver.
"We see Nick and Robert as a strong driver pairing and Christian as an experienced test driver," BMW Motorsport director Mario Theissen said in a statement.
"We are in no doubt that we will again achieve our ambitious aims with them in the team's fourth year."
The announcement ends speculation over Heidfeld's future and also slams the door on Renault's Fernando Alonso, winner of the Singapore Grand Prix, who had been linked with a move to BMW
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