A handcuffed Michael Adebowale, 22, confirmed his name and address as the charges were read out at Westminster Magistrates' Court.
He was charged on Wednesday, after spending six days in hospital having been shot by armed police following the attack on Drummer Rigby on 22 May.
A second man, Michael Adebolajo, remains under arrest in hospital.
Like Mr Adebowale, 28-year-old Mr Adebolajo was shot by police at the time he was arrested.
Mr Adebowale, who has also been charged with possession of a firearm, appeared with a bandaged hand and flanked by police officers during Thursday morning's brief court hearing.
Wearing a grey, long-sleeved top, he only confirmed his name and address. His case was referred to the Old Bailey, where it will be heard on 3 June.
He arrived at Westminster Magistrates' Court earlier in an escorted police van amid tight security.
On Wednesday, a post-mortem examination ruled that Drummer Rigby died of "multiple incised wounds" after the attack on a street in Woolwich, close to the barracks where he was based.
Both Mr Adebowale and Mr Adebolajo were filmed and photographed by witnesses following the attack, which took place in broad daylight.
Police have arrested eight other people in connection with the investigation so far; six of these have been bailed and two released without charge.
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