Bronson Sims, 18, from Longwick, Buckinghamshire, and David Bonner, 46, from Wealdstone in London, were arrested in the visiting end during the game on Saturday and have subsequently been charged with racially aggravated threatening behaviour.
The men have been released on bail and will appear before Norwich Magistrates Court on September 4.
A statement on Watford's official club website, watfordfc.com, said: "Watford FC can confirm that two supporters have been arrested and charged with racially aggravated behaviour after incidents at the Hornets' game with Norwich City at Carrow Road on Saturday.
"The duo have been bailed and will appear in court in September, as part of their bail conditions they cannot attend football matches.
"The club was saddened to hear this news and wishes to again reiterate that any supporters found guilty of such allegations will be banned for such behaviour. Watford Football Club has a zero-tolerance policy on racism and other discriminatory behaviour."
Norwich recently gave temporary bans to two of their fans pending an inquiry into alleged racist chanting during the match against Wolves at Molineux on August 10.
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