Andrew McMenigall, 47, and Toby Wallace, 36, were cycling from Land's End to John O'Groats when the crash happened on the A30 in July 2013.
Robert Wayne Palmer, 32, from Bude, has been charged with two counts of causing death by dangerous driving.
He has been released on bail to appear at Bodmin Magistrates' Court on 3 June.
The cyclists, who worked for Aberdeen Asset Management (AAM), were 40 miles into the 960-mile bike ride to raise money for two charities.
They died in the crash with a white Renault lorry at about 08:30 BST on 2 July.
Mr Palmer has also been charged with a further count of dangerous driving in relation to another crash on September 21 2013, on the A30 near Okehampton in Devon.
Mr McMenigall, from Edinburgh, was married with two daughters. Mr Wallace was from Philadelphia in the United States.
Their bike ride was to raise money for the Kirsten Scott Memorial Trust, named after a 25-year-old colleague who died from cancer in 2011, and It's Good 2 Give, which supports people with cancer.
A man has been charged in connection with the deaths of two cyclists killed in a crash with a lorry during a charity ride in Newquay.