The companies claimed that the employees were apprentices but an employment tribunal ruled that they were entitled to a higher rate of National Minimum Wage (NMW).
Axis Telecom was ordered to repay £21,224.53 in arrears to 14 workers, and Servizon was ordered to repay arrears of £75,117.28 to 183 workers.
In addition, a penalty of £5,000 per company was also imposed.
Notices of underpayment were issued by HMRC on behalf of workers previously employed by Axis Telecom and Servizon as call centre telesales operators.
HMRC successfully argued at the employment tribunal that the workers were not employed under contracts of apprenticeship and were entitled to be paid a higher rate of NMW.
Michelle Wyer, assistant director of NMW, HM Revenue and Customs (HMRC), said: "We are pleased the employment tribunal has given this ruling in support of the workers who were being underpaid."
Wyer added: "Our aim is to enforce the law and protect vulnerable workers."
A ruling was given on 26 March 2013 following an employment tribunal hearing in Hull.
