Michael Adebolajo, 28, was yesterday charged with the murder of 25-year-old Drummer Lee Rigby on May 22, as well as the attempted murder of two police officers and possession of a firearm, London's Metropolitan Police said.
Another man, 22-year-old Michael Adebowale, has already been charged with the soldier's murder and appeared in court on Thursday.
Adebowale from Greenwich of southeast London, was remanded to custody and is due to appear at the Old Bailey court in London, tomorrow.
Both Adebowale and Adebolajo were filmed and photographed by witnesses following the attack, which took place on a busy street in the afternoon.
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On Wednesday, a post-mortem examination found Rigby died of "multiple incised wounds" after the attack.
The total number of arrests made in connection with the attack stands at 12. So far, eight of those arrested have been bailed and two released without charge.
On Friday, Rigby's family from Middleton, Greater Manchester, appealed for calm after reports of a rise in anti-Muslim incidents following the killing.
Meanwhile, Police, politicians and activists have reported a rise in anti-Muslim incidents since Rigby's slaying.
However, demonstrations by right-wing groups drew low numbers yesterday. In London, police kept about 150 British National Party (BNP) supporters carrying anti-Islam placards apart from a larger group of anti-racist demonstrators outside Parliament after the two sides traded insults and occasional blows.
Smaller right-wing protests were held in other cities all across Britain.
Police had earlier rejected a plan by the BNP, which claims to be anti-extremist but which opponents say is racist and anti-Islam, to march from the site of Rigby's killing to a nearby Islamic centre.