The Government has said Tsarnaev and his brother planned the attack to avenge Muslims killed by US forces overseas.
Victims and their families arrived by the busload for the trial. Some filled the first five rows of the courtroom. Others followed it on a monitor in another part of the building.
Assistant US Attorney William Weinreb painted the defendant as someone who could take part in a deadly terrorist attack one moment, and blithely go about his business the next.
"When he was with his friends, he played video games. When he was by himself, he read terrorist writings and watched terrorist lectures."
Twenty minutes after the brothers set off two home-made bombs near the marathon finish line, Dzhokhar went to a grocery store to buy milk, Weinreb said.
"While victims of the bombing lay in the hospital learning that they may have to have their limbs cut off ... the defendant acted as if nothing had happened," Weinreb said.
Weinreb also sought to pre-empt defence arguments that Dzhokhar was in his brother's thrall.
"Even though he and his brother had different roles in committing these crimes, they were equally guilty," he said.
"The defendant's goal that day was to maim and kill as many victims as possible. He pretended to be a spectator but he had murder in his heart.
- Washington Post-Bloomberg