Sky News says Adebolajo, 28, is also accused of the attempted murder of two police officers and possessing a firearm.
Another man, Michael Adebowale, 22, has already been charged with murdering the young soldier and is due to appear at the Old Bailey on Monday.
Meanwhile, two men, aged 42 and 46, held on suspicion of being involved in the supply of guns in connection with the killing have been bailed.
They are due to return to a south London police station later this month.
Father-of-one Mr. Rigby suffered “extensive and serious” injuries and had to be identified by a dental expert, an inquest into his death heard.
The 25-year-old was killed near the Royal Artillery Barracks in Woolwich on May 22, as he returned from a day working at the Tower of London.
A short hearing at Southwark Coroner’s Court was told Drummer Rigby was hit by a car before being attacked by two men armed with a cleaver and a knife.
A post-mortem has confirmed he died from multiple cut and stab wounds. Click to signup for FREE news updates, latest information and hottest gists everyday
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Those who killed by the sword will die by the sword.
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