Men’s Competitions
| Year | Host | Gold medalist | Score | Silver medalist | Bronze medalist |
|---|---|---|---|---|---|
| 1959 | Turin | Czechoslovakia | Romania | Poland | |
| 1961 | Sofia | Romania | Bulgaria | Czechoslovakia | |
| 1963 | Porto Alegre | Soviet Union | Czechoslovakia | Brazil | |
| 1965 | Budapest | Soviet Union | Hungary | Yugoslavia | |
| 1967 | Tokyo | Japan | South Korea | France | |
| 1970 | Turin | Italy | Soviet Union | South Korea | |
| 1973 | Moscow | Soviet Union | Cuba | South Korea | |
| 1977 | Sofia | Bulgaria | Czechoslovakia | North Korea | |
| 1979 | Mexico City | South Korea | Cuba | Japan | |
| 1981 | Bucharest | Romania | Cuba | Japan | |
| 1983 | Edmonton | Cuba | Canada | Italy | |
| 1985 | Kobe | Japan | Soviet Union | Italy | |
| 1987 | Zagreb | Yugoslavia | China | Italy | |
| 1991 | Sheffield | Poland | United States | Soviet Union | |
| 1993 | Buffalo | Japan | Poland | South Korea | |
| 1995 | Fukuoka | South Korea | Spain | Italy | |
| 1997 | Sicilly | South Korea | Italy | Russia | |
| 1999 | Palma de Mallorca | Germany | Japan | Spain | |
| 2001 | Beijing | United States | France | Russia | |
| 2003 | Daegu | South Korea | Japan | United States | |
| 2005 | Izmir | Turkey | 3–2 | Japan | Italy |
| 2007 | Bangkok | Turkey | 3–1 | Canada | United States |
| 2009 | Belgrade | Russia | 3–0 | Brazil | Egypt |
| 2011 | Shenzhen | Russia | 3–1 | Ukraine | Brazil |
| 2013 | Kazan | Russia | 3–0 | Poland | Japan |
| 2015 | Gwangju | Russia | 3–1 | Ukraine | Argentina |
| 2017 | Taipei | Iran | 3–2 | Russia | Japan |
| 2019 | Naples | Italy | 3–2 | Poland | Russia |
| 2021 | |||||
| 2023 |
Women’s Competitions
| Year | Host | Gold medalist | Score | Silver medalist | Bronze medalist |
|---|---|---|---|---|---|
| 1961 | Sofia | Soviet Union | Bulgaria | Romania | |
| 1963 | Porto Alegre | Brazil | Peru | Chile | |
| 1965 | Budapest | Soviet Union | Romania | Czechoslovakia | |
| 1967 | Tokyo | Japan | Philippines | Hong Kong | |
| 1970 | Turin | Soviet Union | Japan | Bulgaria | |
| 1973 | Moscow | Soviet Union | Bulgaria | Brazil | |
| 1977 | Sofia | Soviet Union | Cuba | Bulgaria | |
| 1979 | Mexico City | Soviet Union | Japan | Cuba | |
| 1981 | Bucharest | China | Cuba | Brazil | |
| 1983 | Edmonton | Brazil | China | Japan | |
| 1985 | Kobe | Japan | South Korea | West Germany | |
| 1987 | Zagreb | China | Soviet Union | East Germany | |
| 1991 | Sheffield | Italy | Romania | United States | |
| 1993 | Buffalo | Romania | United States | Switzerland | |
| 1995 | Fukuoka | China | Japan | Russia | |
| 1997 | Catania | Russia | United States | Japan | |
| 1999 | Majorca | China | Russia | France | |
| 2001 | Beijing | China | Russia | Thailand | |
| 2003 | Daegu | China | Chinese Taipei | Russia | |
| 2005 | Izmir | Chinese Taipei | 3–0 | Poland | China |
| 2007 | Bangkok | Poland | 3–0 | Serbia | China |
| 2009 | Belgrade | Italy | 3–2 | Serbia | Poland |
| 2011 | Shenzhen | Brazil | 3–0 | China | Russia |
| 2013 | Kazan | Russia | 3–2 | Brazil | Thailand |
| 2015 | Gwangju | Russia | 3–0 | Ukraine | Japan |
| 2017 | Taipei | Russia | 3–1 | Japan | Ukraine |
| 2019 | Naples | Russia | 3–1 | Italy | Japan |
| 2021 | |||||
| 2023 |