Michael Adebolajo, 28, and Michael Adebowale, 22, were at the Old Bailey where their case was listed for a mention hearing.
Adebolajo, wearing a black shirt, and Adebowale, in a beige knitted jumper, spoke only to confirm their names as they appeared in oak-panelled Court 2.
They are charged with murdering the Fusilier as he walked back to Woolwich Barracks in south-east London on May 22.
They are also each accused of attempting to murder a police officer on the same day, and conspiracy to murder a police officer on or before that day.
A handful of far-right protesters from the British National Party and the English Defence League gathered outside the court building with flags and placards.
Father-of-one Fusilier Rigby, 25, from Middleton, Greater Manchester, died of multiple cut and stab wounds when he was attacked as he returned to the barracks after spending the day at the Tower of London.
Adebolajo, from Romford in Essex, has asked to be known as Mujaahid Abu Hamza in court, while Adebowale, from Greenwich, south-east London, has asked to be called Ismail Ibn Abdullah.