Michael Adebowale, a 22-year-old Londoner of Nigerian descent, spoke only to confirm his name and address during a short hearing at Westminster Magistrates' Court in central London.
He was remanded in custody and will appear next at the Old Bailey court here on Monday.
Adebowale was charged with the murder of Drummer Lee Rigby, 25, by detectives from Scotland Yard's Counter Terrorism Command yesterday after spending six days in hospital as a result of being shot by police following the street attack in Woolwich, south-east London, on May 22.
Dressed in a grey top and flanked by officers, he was told he did not need to stand up in the dock because of the injuries he sustained as he was shot by police.
A second suspect and co-conspirator, 28-year-old Michael Adebolajo, caught on camera soon after the attack on Lee Rigby and also shot by armed police officers remains under arrest at a London hospital.
"There is sufficient evidence to prosecute Michael Adebowale and it is in the public interest to do so... This man is now charged with serious criminal offences and he has the right to a fair trial. It is extremely important that nothing should be reported which could prejudice this trial," she added.
A minute's silence was held in Woolwich just before 14:20 BST on Wednesday - exactly a week after the event - followed by spontaneous applause.
"I am devastated by the loss of Lee who was a loving fiance. I am extremely proud of him...," the soldier's fiancee Aimee West said in a statement.
Scotland Yard said the inquest into Lee Rigby's death would open at Southwark Coroner's Court on Friday. Police across Britain have arrested eight other people in connection with the investigation so far, six of whom have been bailed and two released without charge.
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