The murder occurred in broad daylights and on the street.
The men also denied attempting to murder a police officer on that day, as well as planning to murder a police officer on or before that day.
Mr. Adebolajo has asked to be known as Mujaahid Abu Hamza in court, while Mr. Adebowale wants to be called Ismail Ibn Abdullah.
The men appeared via videolink from HMP Belmarsh, with Mr. Adebowale sitting in front of a prison sign.
Fusilier Rigby's widow, Rebecca Rigby, was in court for the hearing. A trial date has been provisionally set for 18 November.