Jewel Uddin, 27; Omar Mohammed Khan, 28; Mohammed Hasseen, 23; Anzal Hussain, 24; and Mohammed Saud and Zohaib Ahmed, both 22, all appeared via prison video link at Woolwich Crown Court in south-east London charged under Section 5(1) of the Terrorism Act 2006.
They are jointly accused of preparing an act or acts of terrorism between May 1 and July 4 last year.
The men, from Birmingham, face an allegation that they took part in activities including the manufacture of an improvised explosive device, the acquisition of firearms and other weapons and the purchase of motor vehicles connected with the charges.
Hasseen is also accused of possessing a document or record containing information of a kind likely to be useful to a person committing or preparing an act of terrorism on July 3, which he also denied yesterday.
The charges follow a series of arrests by the West Midlands Counter Terrorism Unit, assisted by the North East Counter Terrorism Unit.
Uddin, Khan and Hasseen were arrested after the routine stop of a Renault Laguna by police on the M1 near Sheffield on June 30.
It was alleged that a cache of weapons was found in that vehicle, along with a note addressed to the English Defence League, which was planning a rally in South Yorkshire that day.
Hussain, Saud and Ahmed, who were arrested on July 4, were allegedly travelling in a gold Rover which was in a convoy with the Laguna.
The men spoke only to confirm their names and enter their pleas.
They were remanded in custody until a further hearing at the court on March 25.
A provisional trial date has been set for May 7.