All three companies will appear at Westminster’s Magistrates Court in January to face four charges each.
Two charges relate to the death of Rene Tka’cik on March 7 2014 and one each relating to injuries to Terrence Hughes on January 16 and Alex Vizitiu on January 22 2015.
Tka’cik died after he was crushed by falling concrete while working on the Fisher street cross-over tunnel.
Hughes was working between the Bond Street and Paddington section of the tunnel when he was crushed by a tipper truck. He suffered severe leg injuries.
Vizitiu was working in the same stretch of the tunnel when he suffered head and hip injuries after being struck by a high pressure mixture of water and concrete during a routine operation to clean concrete lines.
HSE’s Head of Operations, Annette Hall said: “We have today informed the three contractors that they will each be prosecuted for the death of a worker and injuries sustained by two others, in three separate incidents on the construction project.
“These were all serious incidents and resulted in the death of one of their workers.
“We have concluded following thorough investigations that there is sufficient evidence to prosecute and it is in the public interest to do so.”