The death of Fusilier Lee Rigby could not have been prevented despite a "number of errors" by agencies, a government report has concluded.

In its 192-page report into the death of Rigby on 22 May 2013, the Intelligence and Security Committee said that: "Given what the agencies knew at the time, they were not in a position to prevent the murder of Fusilier Rigby".

However, the report also stated that an internet firm could have done more to avert Rigby's killing if it had handed MI5 messages sent by killer Michael Adebowale outlining his intention to carry out a jihadist attack.

"The brutal murder of Lee Rigby could have been prevented if an internet company had passed on an online exchange in which one of the killers expressed 'in the most graphic terms' his intention to carry out an Islamist jihad attack," the report said.

Fussiler Rigby was slain in broad daylight as he returned to Woolwich Barracks from a shift working at a Tower Bridge recruitment office.

Michael Adebolajo was sentenced in February to a whole-life term and Adebowale was jailed for a minimum of 45 years for the killing.