The former Vatican treasurer is the most senior Catholic figure ever to be found guilty of sexual offences against children.
Pell abused the 13-year-old choir boys in a Melbourne cathedral in 1996, a jury ruled last year.
The cardinal, 77, maintains his innocence and has lodged an appeal.
In sentencing Pell on Wednesday, a judge said the cleric had committed "a brazen and forcible sexual attack on the two victims".
"Your conduct was permeated by staggering arrogance," said Judge Peter Kidd.
In December, a jury unanimously convicted Pell of one charge of sexually penetrating a child under 16, and four counts of committing an indecent act on a child under 16.
His conviction has rocked the Catholic Church, where he had been one of the Pope's closest advisers.
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