Reyaad Khan, from Cardiff, and Ruhul Amin, from Aberdeen, were killed in the strike, which was ordered without Commons approval.
A third Briton, Junaid Hussain, was killed in a US airstrike, six days later, on 24 August, the Prime Minister said.
All three were killed in Raqqa, considered the capital of the so-called Islamic State, in Syria.
Announcing the strike, Mr Cameron told the Commons that security chiefs had stopped at least six terror attacks against Britain in the last 12 months.
He added that the risk to Britain from Islamist extremist violence is "more acute today than ever before".
The RAF strike specifically targeted Khan, but Amin was also killed, along with another man.
Khan travelled to Syria in late 2013, and appeared in a video calling for Westerners to fight in Syria and Iraq.
Sky's foreign editor Sam Kiley said all three Britons were well-known to UK security services.
Hussain was a "leading light" in IS's cyber campaign, Kiley said.
But Kiley said attention would undoubtedly turn to whether the deaths are viewed as necessary for self-defence or as "extra-judicial executions".
Mr Cameron told the Commons: "We should be under no illusion. Their intention was the murder of British citizens.
"So on this occasion we ourselves took action."
Mr Cameron said the operation was legal under international law: "We were exercising the UK's inherent right to self-defence.
"The air strike was the only feasible means of effectively disrupting the attacks planned.
"These were part of a series of actual and foiled attempts to attack the UK and our allies.
"So it was necessary and proportionate for the individual self defence of the United Kingdom."
He said the military "assessed the target location and chose the optimum time to minimise the risk of civilian casualties."
Mr Cameron said the Government reserved the right to take military action without prior Commons approval.
This depended on whether there was "a critical British interest at stake or there were a need to act to prevent a humanitarian catastrophe".
Action had been approved at a meeting of "the most senior members" of the National Security Council, he said.
The meeting was attended by the Attorney General.
Khan's mother has previously made an emotional plea during an interview with Sky News for her son to return home.
She said: "You are my only son. Please come back before it is too late."
Skynews
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