Dynamical decoupling pulse sequences have been used to extend coherence times in quantum systems ever since the discovery of the spin-echo effect. Here we introduce a method of recursively concatenated dynamical decoupling pulses, designed to overcome both decoherence and operational errors. This is important for coherent control of quantum systems such as quantum computers. For bounded-strength, non-Markovian environments, such as for the spin-bath that arises in electron- and nuclear-spin based solid-state quantum computer proposals, we show that it is strictly advantageous to use concatenated, as opposed to standard periodic dynamical decoupling pulse sequences. Namely, the concatenated scheme is both fault-tolerant and super-polynomially more efficient, at equal cost. We derive a condition on the pulse noise level below which concatenated is guaranteed to reduce decoherence.