Mohommod Hassan Nawaz, 29, and Hamza Nawaz, 22, were arrested on September 16 after ammunition was found in their vehicle at the port of Dover where the pair arrived from Calais in France.
Apart from ammunition and terror camp charges, Mohommod Nawaz is also accused of possessing terrorist information.
The two brothers were remanded in custody at Westminster Magistrates' Court until October 21 when they will appear at the Old Bailey in London, England's central criminal court.
It is alleged that police found five rounds of rifle ammunition, a balaclava, heavy-duty clothing, six mobile phones, and a phone's Sim card inside a copy of the Koran, BBC reported.
More From This Section
The court heard an allegation that earlier this year the men had driven from their home to Calais, then flew from Lyon to Turkey. It is then claimed they made their way into Syria.
Mohommod Nawaz is accused possessing a laptop computer containing "information of a kind likely to be useful to a person committing or preparing an act of terrorism".
Separately, a 37-year-old man and a 36-year-old woman were also arrested on suspicion of terror offences in Essex on Wednesday have been released without charge.