The parliamentary inquiry was set up in February to probe possible security failings in the run-up to two major terror attacks in Paris in 2015 that left 147 people dead.
"The two big intelligence bosses admitted during their hearings that the 2015 attacks represent a 'global intelligence failure'," said Socialist lawmaker Sebastien Pietrasanta.
The president of the commission of the inquiry, Georges Fenech, said that the barriers between different intelligence services led to the surveillance of Charlie Hebdo attacker Said Kouachi being lifted.
Amedy Coulibaly, an ally of the brothers who took shoppers hostage at a Jewish supermarket two days later, killing four, and who also shot dead a policewoman, was also an example of intelligence failings within the prison system, the inquiry found.
Fenech recommended the establishment of a single "national anti-terrorism agency."
"Faced with the threat of international terrorism we need to be much more ambitious... In terms of intelligence," he said.
"Our country was not ready, now we must get ready," he told AFP.
However, he questioned the merits of having three different specialised units, the paramilitary intervention group GIGN, the police unit RAID and another elite police force specialising in hostage situations, the BRI.
Pietrasanta said that even though there had been threats made against the Bataclan concert, where 90 people were massacred, the attack there could not have been avoided.
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