The show – named Langs de Leeuw – saw a "host" visiting supposed contestants from different countries, and featured actors waving knives and cleavers dripping with fake blood at Great Britain's table.
The clip is an obvious nod to the footage of suspected killers Michael Adebolajo and Michael Adebowale, who addressed cameras at the scene, promising to "never stop fighting".
Host Paul De Leeuw is seen laughing at and applauding the sketch, which was screened on Holland’s VARA channel.
Drummer Rigby of 2nd battalion Royal Regiment of Fusiliers was killed in a suspected terror attack in Woolwich last Wednesday.
The 25-year-old, who was wearing a Help for Heroes t-shirt, was attacked with a machete just yards from the Royal Artillery Barracks.
On Tuesday detectives were questioning a tenth person in connection with the murder.
According to The Sun, the sketch sparked a flood of complaints. It quotes SAS hero Andy McNab as saying: "I was made aware of this by Dutch friends who were appalled.
Paul de leeuw, you are one sick person making fun of lee rigby's murder, you should be kicked of tv for life you tosser— Mick Oakey (@mickoakey) May 28, 2013
That dutch tv show what a joke - how can u take the piss outta what happened in Woolwich. #disgusting—Charlie Hall(@CharlieHall30) May 28, 2013
"Thankfully, that's the reaction of most Dutch people. They are furious as people in Britain would be.
"Those responsible are idiots. It was a cheap shot and it wasn't funny."