I think is actually VM related, not network related.
Any way:
First of all check, if Virtual Machines have network controllers assigned by VirtualBox (in virtual machine configuration), if they have it, then you can easily get IP on machines using dhclient
'-v' flag means verbose, so you would see, if dhclient is getting any response.
Or you can assign static IP (I dislike static IP - it is completely wrong and hard to manage)
Code:
ifconfig eth0 192.168.1.2
Obviously your IP depends on your network, so you have to tune it to your network - this just example