Two big-box retail companies will pay Massachusetts towns and cities $232,000 for allegedly overcharging public agencies for prescription drugs through the workers’ compensation insurance system.

Attorney General Martha Coakley disclosed the settlement with Walmart Stores Inc. and Target Corp. on Tuesday.

The settlement was filed in Suffolk Superior Court Monday. Under the terms of the deal, Bentonville, Ark.-based Walmart will pay $207,000. Minneapolis-based Target will cover the remaining $25,000. The retail chains are now required to put in place measures to prevent future overcharges.

Cities and towns that were overcharged by the two retailers include Amherst, Boston, Concord, Everett, Fall River, Framingham, Hingham, Lowell, Plymouth, Springfield, and Worcester.

The state has recovered more than $8 million through similar investigations.