We　propose　a　simple　scheme　for　implementing　resilient　two-qubit　entangling　gates　in　universal　cavity　QED　systems.　The　technique　employs　suitably　designed　laser　pulse　with　modulated　amplitude　and　phase　to　decrease　residual　qubit-cavity　entanglement　that　reduces　the　fidelity　of　the　desired　entangling　operation.　Numerical　simulations　suggest　that　the　optimized　gates　are　robust　against　errors　in　gate　time,　frequency　detuning,　atom-field　coupling　constant　and　pulse　amplitude.　Moreover,　the　optimized　gates　provide　increased　robustness　to　cavity　decay　as　well　as　strong　suppression　of　atomic　spontaneous　emissions.　With　modest　experimental　parameters　the　scheme　could　enable　a　high　gate　fidelity　exceeding　99%　in　realistic　scenarios.　©　2020　Elsevier　B.V.