Caines, who joined the Robins last summer after being released by Walsall, has signed up until June 2007.
The 21-year-old made his full debut for Cheltenham in November and has been an ever-present in 15 games since.
"It's tough for a young player when they get released by a club but Gavin has found his feet with us," manager John Ward told Cheltenham's website.
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