Adebolajo will spend the rest of his life in prison, while Adebowale was handed a life sentence with a minimum of 45 years.
Adebolajo, 29, and Adebowale, 22, targeted the father-of-one after seeing him walking towards the Royal Artillery Barracks, in Woolwich, South East London, wearing a Help For Heroes top in May last year.
The pair deliberately mowed him down before brutally attacking his body with knives and a meat cleaver.
Members of the public captured footage of the harrowing scenes, with some eyewitnesses saying the pair were attempting to behead the 25-year-old.
The Metropolitan Police attended the scene with armed police shooting both Adebolajo and Adebowale, before detaining them.
The killers were convicted of Lee's murder in December, but the sentencing was delayed until the outline of a key court ruling last month, which said whole-life tariffs can be handed down by UK judges.
Adebolajo, of Romford, Essex, will not be given a chance to apply for parole and will die behind bars. While Adebowale, of Greenwich, South East London, must serve a minimum of 45 years.
The sentencing, at the Old Bailey in London, was attended by Lee’s bereft family, including his mother, Lyn, and stepfather, Ian, and his sisters, Sara and Chelsea, who wore t-shirts with the words ‘Justice For Lee Rigby’.
The prosecution read out their victim impact statements, including one from Lee’s widow, the mother of his child, Rebecca.
It read: “Lee will never be forgotten, we will always love him and miss him every day.
“Through all the feelings I have the one thing that overrides everything is that I know my son will grow up and see images of his dad that no son should have to endure and there is nothing I can do to change this.”
Lee’s stepfather, Ian, almost made a statement which was read out in court.
Protests erupted outside of the court before and during the hearing. It's thought around 200 people gathered, including members of right-wing groups.
As Mr Justice Sweeney started the sentencing, Adebolajo and Adebowale began fighting police guards and were forcibly removed from the dock.
Lee's family were in tears as the sentence was handed down, as the judge apologised for the scenes they had to witness.
We will bring you updates as it happens throughout the afternoon.