"Both Ray and John have been tremendous leaders for their respective services over these last four years: four years that have been critical for our military and for the country, marked by an ever- changing security environment and persistent budget turbulence, but also by magnificent performance by these two services under their leadership," Carter said.
They would replace General Ray Odierno, and Admiral John Greenert respectively.
Carter said General Milley is a warrior and a statesman.
"When he was in Afghanistan as commanding general of ISAF joint command, I had a lot of opportunities to observe Mark on the ground leading our coalition of allies and partners and helping the Afghan people prepare to take responsibility for their own security," he said..
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Admiral John Richardson was a clear choice, Carter said.
"He's a bold thinker, a tremendous leader, and the go-to officer for many of the Navy's tough issues in recent years, from preparing for the Ohio- class replacement ballistic missile submarine to handling problems of integrity and ethics," he said.