Humberside Police were called to the scene on Swinderby Gardens - where the two men had taken to the roof - and closed the road.
The men were on the roof for several hours during a stand off with police, but were eventually brought down and arrested on several charges.
Now in custody, the men were arrested on suspicion of affray, criminal damage, causing a public nuisance and assaulting a police officer, after an inspector at the scene suffered head injuries. The officer has been discharged from hospital.
The pair have further been arrested on suspicion of robbery and actual bodily harm following an earlier incident in which alcohol was reportedly stolen from a nearby shop. Two people were left with minor injuries and were treated at the scene.
Chief Inspector James Glansfield said: “Incidents of this nature are highly disruptive to our communities. Our officers responded quickly to the initial reported robbery, and then to the scene of the roof top siege, on a property of which the men had no connection to.
“Such events require large amounts of resources to ensure a safe resolution and to protect everybody affected in the locality. Often, as in this case, the damage left behind can be extremely distressing from those living in the area.
“One of our officers also sustained injuries as he was trying to go about his business protecting our communities. We will never tolerate these acts towards our people.
“I wish to thank the local residents for their patience during the disruption and encourage them to speak to the teams still in the area if they have any concerns or information they wish to share.”