The Fibonacci cube Γ n is obtained from the n-cube Q n by removing all the vertices that contain two consecutive 1s. If, in addition, the vertices that start and end with 1 are removed, the Lucas cube Λ n is obtained. The number of vertex and edge orbits, the sets of the sizes of the orbits, and the number of orbits of each size, are determined for the Fibonacci cubes and the Lucas cubes under the action of the automorphism group. In particular, the set of the sizes of the vertex orbits of Λ n is {k ≥ 1; k | n} ∪ {k ≥ 18; k | 2n}, the number of the vertex orbits of Λ n of size k, where k is odd and divides n, is equal to, and the number of the edge orbits of Λ n is equal to the number of the vertex orbits of Γ n−3 when n ≥ 5. Primitive strings, dihedral transformations and asymmetric strings are essential tools to prove these results.