Goo's ex-boyfriend last year threatened to "end her entertainment career" by leaking the footage after they split up last year, and a CCTV clip showed her kneeling before him apparently begging him not to.
Jung, in his defence, said she was not intoxicated and they had consensual sex.
The prosecution had initially asked for seven years in prison for Jung Joon Young and five years for Choi Jong Hoon, as well as participation in a rehabilitation program for offenders and a ten-year restriction of employment in any organization related to children and teenagers.
Lawyers for Jung and Choi could not be reached for comment.
The two singers had been hugely popular but had perceived the victims only as "sexual objects" to be exploited, it went on, adding: "They should assume social responsibility in proportion to their fame and wealth".
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"The defendants may be young in age, but the crime committed is too serious and grave".
Jung was also charged with filming the assault and distributing the footage.
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Choi denied raping the woman.
The court said in a statement that they were convicted of committing "special quasi-raping", which it said means multiple people collaborating to have illicit sexual intercourse with a person who was unconscious or unable to resist.
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"I deeply regret my foolishness and I feel great remorse", said Jung.
Fellow K-pop star Choi Jong-hoon received a 5-year sentence Friday at Seoul Central District Court, reports The Korea Herald.
The identities of the victims were suppressed to protect their privacy. "The victims have to live in agony for the next 60 years, not just six", one poster wrote on the country's largest portal site, Naver.
The case against the two was discovered during a separate police investigation into K-pop superstar Seungri - who was reportedly a member of Jung's group chat. Seungri is facing his own criminal charges as a co-owner of Burning Sun, a nightclub in Seoul's glamorous Gangnam neighborhood in which prosecutors allege Seungri operated a prostitution side business for wealthy clientele and laundered money from prostitution and gambling.
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Lionsgate has secured the deal to release it, reportedly winning a bidding war against HBO Max and Paramount. The writers assured him that the film wasn't poking fun at him but rather paying respect to him.