The struggle in the dock at the Old Bailey was triggered when Adebolajo and Adebowale - both wearing Islamic robes - reacted angrily to comments that Mr Justice Sweeney made about their extremist beliefs.
He told them: "You each converted to Islam some years ago. Thereafter you were radicalised and each became an extremist, espousing views which, as has been said elsewhere, are a betrayal of Islam."
Adebowale protested that this was a lie, ranting about America and Britain, and his accomplice joined in, screaming "allahu akbar" and hurling abuse at the prison guards who grappled him to the ground.
Both men were grabbed around the face as guards struggled to control them, and taken down to the cells.The soldier's family were visibly distressed, and one relative needed medical treatment.
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Police have said the motive for the attack is not yet clear.