Sentencing the killers, Mr Justice Sweeney said Lee Rigby "had done absolutely nothing to deserve what you went on to do to him."
Mr Justice Sweeney added: "It is no exaggeration to say that what the two of you did resulted in a bloodbath."
Adebolajo tried to behead the soldier while Adebowale stabbed him in the chest.
"You both gloried in what you had done," the judge told the court, and said it had a "severe and lasting impact" on his loved ones.
More top news
Police have been accused of standing by during the incident.
The former special counsel is due to testify before Congress this week.
The pro-Brexit protester admitted calling the former Conservative a Nazi and a traitor outside the Houses of Parliament in January.