The Dutchman competed in the series last year, scoring a best result of fourth three times during the season on his way to 13th in the drivers' standings.
However, his season highlight came when he emerged as the victor of the Macau Grand Prix, becoming the first rookie in 11 years to do so.
Ahead of his second F3 season, Verschoor says he is confident that he will consistently run at the front of the field.
“I am happy to continue in FIA Formula 3 together with MP Motorsport and TeamNL”, Verschoor said. "Last year saw an upward trend in the second half of the season, culminating in that amazing victory at Macau where everything just clicked.
“I’m eager to continue this trend, and I'm confident that I can be a frontrunner in 2020.”
Team manager Sander Dorsman added: “It is good news that we will continue working together with Richard. Last year, we showed lots of promise in FIA F3 but now we aim for podiums and more victories.”
Confirmed 2020 F3 teams and drivers
|ART Grand Prix||Aleksandr Smolyar|
|Carlin Buzz Racing||Enaam Ahmed|
|Charouz Racing System||Niko Kari|
|Campos Racing||Alessio Deledda|
|HWA Racelab||Mick Doohan|
|Hitech Grand Prix||Liam Lawson|
|Jenzer Motorsport||Matteo Nannini|
|MP Motorsport||Lukas Dunner|
|Prema Racing||Frederik Vesti|
Bahrain International Circuit - Winter testing