Ted Simmons, the bench coach for the past two seasons, said in September that he would not return in 2011 because he wanted to pursue a Major League managerial job.
Roberts rejoined the Padres as a special assistant a year ago and worked with baserunners and outfielders during Spring Training, and with Minor League players during the season.
Roberts, 38, played parts of 10 seasons with the Indians, Dodgers, Red Sox, Padres and Giants from 1999-2008. He played two seasons for the Padres (2005-06).
Renteria, who was recently granted permission to interview for the Blue Jays' managerial opening, will be entering his fourth season on manager Bud Black's staff.
Renteria spent four seasons managing in the Padres' Minor League system with stops at Class A Lake Elsinore (2004-06) and Triple-A Portland (2007). He also managed four seasons in the Marlins organization.
Darrel Akerfelds, the longest-tenured member of the coaching staff, returns for his 10th season as the bullpen coach. Pitching coach Darren Balsley returns for his eighth season. Both were instrumental in the development of one of the top pitching staffs in baseball.
The Padres had a 3.39 ERA, second in the Major Leagues in 2010 and the lowest ERA in franchise history since 1989. The 2010 pitching staff tied the franchise record for shutouts (20).
Third-base coach Glenn Hoffman, who works with the infielders, will return for his sixth season, and hitting coach Randy Ready returns for his second full season as hitting coach.