The pair were cited in separate incidents during the match at Westpac Stadium, which was won 26-22 by the Waratahs.
So'oialo was cited for allegedly stamping or trampling on Waratahs player Phil Waugh in the 65th minute, while Palu was cited for allegedly stamping or trampling on Hurricanes player Jeremy Thrush in the 69th minute.
Palu will face a judicial officer in Wellington today, while So'oialo will appear tomorrow.