Men’s tournament
| Year | Host | Gold | Score | Silver | Bronze |
| 1969 | Belgrade, Yugoslavia | Italy | Yugoslavia | Bulgaria | |
| 1973 | Malmö, Sweden | Bulgaria | Iran | Italy | |
| 1977 | Bucharest, Romania | Soviet Union | Iran | Romania | |
| 1981 | Cologne, West Germany | Soviet Union | Bulgaria | United States | |
| 1985 | Los Angeles, United States | Finland | Japan | Italy | |
| 1989 | Christchurch, New Zealand | Finland | Italy | Iran | |
| 1993 | Sofia, Bulgaria | Italy | United States | Bulgaria | |
| 1997 | Copenhagen, Denmark | Ukraine | Iran | Italy | |
| 2001 | Rome, Italy | Italy | Ukraine | Russia | |
| 2005 | Melbourne, Australia | Ukraine | Italy | Iran | |
| 2009 | Taipei, Chinese Taipei | Russia | Ukraine | Germany | |
| 2013 | Sofia, Bulgaria | Ukraine | Russia | Iran | |
| 2017 | Samsun, Turkey | Turkey | 3-0 | Ukraine | Russia |
| 2021 | Caxias do Sul, Brazil |
Women’s tournament
| Year | Host | Gold | Score | Silver | Bronze |
| 1969 | Belgrade, Yugoslavia | Denmark | Argentina | United States | |
| 1973 | Malmö, Sweden | Denmark | United States | Canada | |
| 1977 | Bucharest, Romania | Soviet Union | United States | Romania | |
| 1981 | Cologne, West Germany | Soviet Union | United States | Denmark | |
| 1985 | Los Angeles, United States | United States | West Germany | Japan | |
| 1989 | Christchurch, New Zealand | West Germany | United States | Japan | |
| 1993 | Sofia, Bulgaria | United States | Ukraine | Japan | |
| 1997 | Copenhagen, Denmark | Russia | Ukraine | United States | |
| 2001 | Rome, Italy | Japan | United States | Ukraine | |
| 2005 | Melbourne, Australia | Ukraine | Japan | United States | |
| 2009 | Taipei, Chinese Taipei | Ukraine | United States | Japan | |
| 2013 | Sofia, Bulgaria | Ukraine | Japan | Russia | |
| 2017 | Samsun, Turkey | Japan | 3-0 | İtaly | United States |
| 2021 | Caxias do Sul, Brazil |