Michael Adebolajo, 28, and Michael Adebowale, 22, are accused over the soldier’s death in Woolwich, south London in May.
The two men appeared via videolink from separate rooms at Belmarsh prison in south east London.
They are accused of murdering Drummer Rigby outside Woolwich barracks and will stand trial on November 18.
Adebolajo, who appeared to still have his left arm in a bandage after being shot by armed police officers in the incident on May 22, sat flanked by two prison warders.
He is also accused of the attempted murder of two police officers and possession of a firearm – a 9.4mm KNIL model 91 revolver – with intent to cause others to believe that violence would be used.
The defendant, from Romford, Essex, was listed as Mujaahid Abu Hamza aka Adebolajo by the court.
They were remanded in custody to appear for a plea and case management hearing at the same court on September 27.