WASHINGTON—U.S. prosecutors sought restraining orders against two sets of telecommunications providers they said have facilitated hundreds of millions of fraudulent robocalls coming into the U.S. from overseas.

The Justice Department said Tuesday it had asked for the court orders restraining two groups of companies, one operating in New York and another in Arizona, from allegedly facilitating fraudulent calls. Authorities described the move as a first-of-its-kind legal action aimed at stemming the flood of calls inundating...