President-elect Donald Trump met on Wednesday with the chief executives of Boeing Co. and Lockheed Martin Corp., the nation’s two largest defense contractors, two weeks after he started publicly berating the cost of some of their military projects.

The meetings with Boeing’s BA, -3.58% Dennis Muilenburg and Lockheed’s LMT, -1.33% Marillyn Hewson were held at Mar-a-Lago in Palm Beach, Fla., where Trump is staying for the Christmas holiday.