Two federal correctional officers have been charged with conspiracy and records falsification stemming from the August death of Jeffrey Epstein, in an indictment that revealed remarkable lapses in security at a Manhattan jail where the disgraced financier had been detained.

By the time the two officers found Mr. Epstein’s lifeless body in his jail cell, at around 6:30 a.m. on Aug. 10, it had been at least eight hours since anybody official had conducted routine checks on inmates in the secure-housing unit of the Metropolitan...