Dennehy, 31, from Peterborough, pleaded guilty last November to the murder of three men and the attempted murder of two others.
Throughout the sentencing at the Old Bailey, London, sick Dennehy – who was wearing a pink Adidas tracksuit – laughed and smiled at the courtroom.
Gary Stretch and Leslie Layton – who were accused of aiding Dennehy and helping her to cover up her crimes – also stood trial today.
Stretch was sentenced to life with a minimum of 19 years. He says "thank you very much" as he is taken down from dock
Layton was sentenced to 14 years with a minimum of 7 years by the judge
Moore was given three years, serve minimum of half.
A third man, Robert Moore, 55, Is accused of assisting an offender and will be sentenced.
In March 2013 Dennehy – a mum of two – killed Kevin Lee, 48, Lukasz Slaboszweski, 31, and John Chapman, 56, before dumping their bodies into ditches.
One month later, Dennehy went on to attack John Rogers and Robin Bereza, in separate incidents, in Hereford while on the run from police.
She repeatedly stabbed both men and left them for dead while they were walking their dogs.
The judge said before sentencing her: "You have made it quite clear you have no remorse for those you murdered."
Dennehy shook her head as the judge referred to her as a “pathological liar.”
She broke down in laughter in the dock as the judge described the gruesome murders to her.
When the judge outlined evidence that Stretch was carrying a handgun, Dennehy interrupted by shouting “b******” from the dock.
Dennehy is only the second woman to be handed a whole life tarriff in the UK. Rosemary West is the other.
Her lawyer desperately argued she should not get life.
Nigel Lickley QC, representing Dennehy, has been arguing that she should NOT receive a whole life term.
He acknowledged her crimes were "exceptionally serious" but added Dennehy had not intended to "embarrass or humiliate" her victims.
"The three men who were killed were not strangers to her," he said. "They were killed by a limited number of stab wounds."
He continued: "In essence the crimes are aggravated by the number of offences and the attempted murders."
The killer could be heard laughing as she was led away from the dock.
One of the victim’s relatives cried out “yes!” as Dennehy’s sentencing was read out.
She will never be eligible for parole and will die behind bars.