Cable companies Comcast Corp. and Discovery Communications Inc. said Monday that they have agreed to renew a distribution agreement, replacing an earlier deal that expired in June.

The new long-term carriage agreement will deliver Discovery's 12 U.S. networks to Comcast's U.S. Xfinity TV customers, the companies said, and it includes TV Everywhere rights. Discovery operates networks such as the Discovery Channel, Animal Planet and TLC.

The terms of the agreement weren't disclosed. Representatives for the companies didn't immediately respond to requests for details.

In a statement Monday, Discovery Chief Executive David Zaslav called Comcast a "great partner of Discovery's for over two decades." Comcast CEO Neil Smit said the renewal will enable its Xfinity TV customers to "experience Discovery's content in more ways and on more platforms" than before.

The companies' relationship has at some points been contentious, with Discovery being particularly vocal in its opposition to a proposed tie-up between Comcast and Time Warner Inc. that eventually failed, saying it would be bad for content companies. In response to Discovery's opposition, Comcast had said Discovery had demanded "unwarranted business concessions," including increased penetration of channels and higher carriage fees, as a condition not to oppose the merger.

Write to Lisa Beilfuss at lisa.beilfuss@wsj.com

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