The soldiers, from the Duvdevan Unit, have been charged with animal cruelty and firearms offences after a video of the incident surfaced.
Allegedly filmed by one of the men, the clip shows the off-duty pair driving past a camel by a sand dune near the Dead Sea while one of them fires at the helpless animal.
As the bullet hits the unsuspecting camel - which later died - hysterical laughter can be heard coming from the car.