The men from the 1st Battalion the Yorkshire Regiment sat on the floor when ordered to stand to attention.
The protest by 16 soldiers was sparked by grievances with their captain and colour sergeant.  It took place in February while on exercise in Kenya.
Fifteen were sentenced to detention, one of whom was dismissed from the Army. A 16th was also dismissed.
All the soldiers pleaded guilty to disobeying a lawful command - an offence that carries a maximum sentence of 10 years' imprisonment.
The soldiers complained of being "led by muppets", the court martial heard.
The prosecutor at the court martial said members of the platoon had been seething at the way they were being managed, and felt that they were "not appreciated".
The court heard a captain and sergeant apparently got drunk before a lengthy training march in the Brecon Beacons last winter.
The troops were said to have been furious at finding their two commanders asleep, rather than greeting the soldiers as they crossed the finish line.
Tensions came to a head at the end of a training exercise in Kenya in February, when 16 soldiers decided to protest.
Ahead of a parade, a ringleader shouted "sit down" and members of the platoon did so. The commanders ordered each man in turn to stand up, but were ignored.
Corporal Anthony Brown, said to be the ringleader, was stripped of his rank, dismissed from the Army and sentenced to 60 days' detention.
Two lance corporals were reduced to privates and sentenced to 60 days' detention, while a third was reduced to private and dismissed without detention.
Twelve privates were sentenced to 40 days' detention.
The soldiers were in the 1st Battalion at the time of the protest. However, the 1st has now become the 2nd, following Army restructuring.
John Wilson, a retired colonel and former editor of the British Army Review who lectures in military history, described the nature of the soldiers' protest as "unprecedented".
The sentences given to the troops at the court martial were "strong enough to make the point", added Col Wilson.
"I don't think a corporal, whatever his grievances, can expect to orchestrate such a public protest in front of the entire battle group parade and get away with it."
An Army spokesman said it was "not appropriate" to comment on the sentencing.

The cannabis was discovered in a van in Camlough, south Armagh.
The accused, three of whom are from Birmingham and the fourth from County Wexford, were arrested on Thursday.
Newry Crown Court was told the investigation involved the PSNI, National Crime Agency (NCA) and Garda (Irish police).
The 167kg drugs shipment was tracked through Spain, England and Ireland, the court heard.
The accused are Chris Connaughton, 36, of St Patrick's Place, Enniscorthy, County Wexford, and Birmingham men Stephen Dainty, 53, of Pool Farm Road, Alcocks Green, Mark Fleetwood, 51, of Dingleside, Hall Green and Paul Green, 62, Weatherfield Road, Tysley.
A lawyer for Mr Connaughton, in whose van the drugs were found, said his client was the "least-part player" and had merely agreed to collect unknown items using his van for a "200 euros cash in hand job".
The court was told he parked the van at Damolly Retail Park in Newry, where it was picked up by "others". The drugs were then allegedly loaded on in Camlough.
Flight records were revealed of connections from Birmingham to Dublin and Alicante in Spain using the credit card of Mr Fleetwood.
A lawyer for Mr Fleetwood said that he was the "patsy" of unknown contraband, "the camouflage in all  this, used by others".
A district judge said he was satisfied there was a case against the co-accused in what he believed was a major drug operation crossing international boundaries.
"There has been a highly significant arrest involving drugs with evidence that the four defendants have played a part in a joint venture to conspire to bring drugs into this jurisdiction," the judge said.
"I am refusing bail on the fear that the accused may interfere with evidence gathering in what is a live investigation."
The four co-accused were remanded to appear via video link at Newry Magistrates' Court on 29 April.
Fifteen soldiers have been jailed after a court martial for staging a "sit-in" in protest at being "led by muppets".
[NEXT_CONCEPT]
Four men have appeared in court charged with attempting to smuggle £800,000 of cannabis into Northern Ireland in pallets of orange juice.