The two were found guilty of storming the house of a foreign family and raping a woman before stealing her gold jewellery, mobile phone and some cash, the ministry said in a statement carried by the SPA state news agency.
They were executed in the capital. Their beheading brings to 21 the total number of executions reported in the Gulf kingdom this year.
In 2009, there were 67 reported executions in Saudi Arabia, compared with 102 in 2008.
Rape, murder, apostasy, armed robbery and drug trafficking are all punishable by death under the kingdom's strict interpretation of Islamic sharia law.
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