Men
| Year | Gold | Score | Silver | Bronze |
|---|---|---|---|---|
| 1959 | Yugoslavia | Hungary | Italy | |
| 1961 | Yugoslavia | Soviet Union | Hungary | |
| 1963 | Hungary | Soviet Union | Brazil | |
| 1965 | Hungary | Soviet Union | Romania | |
| 1967 | Japan | United States | Italy | |
| 1970 | Soviet Union | Italy | Hungary | |
| 1973 | Soviet Union | Cuba | United States | |
| 1977 | Romania | Hungary | Italy | |
| 1979 | United States | Soviet Union | Yugoslavia | |
| 1981 | Cuba | United States | Romania | |
| 1983 | Soviet Union | United States | Cuba | |
| 1985 | Soviet Union | Yugoslavia | Cuba | |
| 1987 | Italy | Cuba | Yugoslavia | |
| 1991 | United States | China | Italy | |
| 1993 | United States | Hungary | Italy | |
| 1995 | Yugoslavia | Hungary | Australia | |
| 1997 | Italy | Hungary | Australia | |
| 1999 | Spain | Italy | Hungary | |
| 2001 | Italy | Russia | Hungary | |
| 2003 | Hungary | Serbia and Montenegro | Australia | |
| 2005 | Serbia and Montenegro | Hungary | Turkey | |
| 2007 | Montenegro | Italy | Hungary | |
| 2009 | Australia | Croatia | Serbia | |
| 2011 | Serbia | Russia | North Macedonia | |
| 2013 | Hungary | Russia | Serbia | |
| 2015 | Hungary | Italy | United States | |
| 2017 | Serbia | Russia | Italy | |
| 2019 | Italy | United States | Hungary |
Women
| Year | Gold | Score | Silver | Bronze |
|---|---|---|---|---|
| 2009 | China | Hungary | Russia | |
| 2011 | China | United States | Russia | |
| 2013 | Russia | Hungary | Italy | |
| 2015 | Australia | Canada | Russia | |
| 2017 | United States | Hungary | Japan | |
| 2019 | Hungary | 8-7 | Italy | Russia |