Judge Krista Marx sentenced Tommy Poindexter, 20, Nathan Walker Jr., 19, and Jakaris Taylor, 18, after hearing testimony from family members and experts about their early lives, the Palm Beach (Fla.) Post reported.
"I can believe that none of you gentleman ever developed any moral code," Marx said. "And I have no confidence that if you are shipped off to the Department of Corrections you will find a moral compass there."
The sentencing comes as the U.S. Supreme Court prepares to hear challenges to Florida's policy of giving juveniles life without parole for crimes other than homicide.
Poindexter, Walker and Taylor were convicted by separate juries in a case based on DNA evidence and testimony from a fourth teen who pleaded guilty. Investigators say as many as 10 teens may have been involved.
The victim, 35 at the time, was robbed and gang-raped in her apartment in a West Palm Beach apartment complex and forced to perform oral sex on her 12-year-old son.