Major General Charles Gurganus and Major General Gregg Sturdevant "did not take adequate force protection measures" to protect the Afghanistan base, General James Amos, chief of the Marine Corps, said.
Two Marines died and eight were wounded in the Taliban raid on September 14, 2012.
Six Harrier fighter jets were also destroyed.
The extraordinary decision marks the first time an American general has been fired over battlefield negligence since the Vietnam War, officials said.
The retirements come after General Amos reviewed the findings of a US Central Command investigation into the attack.
Lieutenant Colonel Christopher Raible and Sgt Bradley Atwell were killed after 15 Taliban fighters with wire cutters breached the camp's perimeter.
They took advantage of reduced security, including an unmanned watchtower.
Maj Gen Gurganus had previously referred to the attack as a "lucky break".
The commander had been in line for a promotion to a three-star lieutenant general but will now retire at his current rank.
Maj Gen Sturdevant will receive a letter of censure.
In a statement, Maj Gen Gurganus said he felt privileged to have served in the Marine Corps for 37 years.
"I will treasure that forever," he said. "I have complete trust and confidence in the leadership of our Corps and fully respect the decision of our Commandant."
Camp Bastion, in Helmand province, is the main base for British military in Afghanistan and includes within its sprawling boundaries Camp Leatherneck - home to thousands of US Marines.

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