| Year | Host City | Gold | Silver | Bronze |
|---|---|---|---|---|
| 2003 | Santiago | Li Qian | Peng Luyang | Cao Zhen |
| Li Xiaoxia | ||||
| 2004 | Kobe | Chang Chenchen | Liu Shiwen | Fan Ying |
| Ai Fukuhara | ||||
| 2005 | Linz | Ding Ning | Peng Xue | Zhenqi Barthel |
| Shim Se-rom | ||||
| 2006 | Cairo | Feng Yalan | Wen Jia | Mu Zi |
| Wu Yang | ||||
| 2007 | Palo Alto | Yang Yang | Wen Jia | Mu Zi |
| Amelie Solja | ||||
| 2008 | Madrid | Cao Lisi | Amelie Solja | Ayuka Tanioka |
| Wang Daqin | ||||
| 2009 | Colombia | Wu Yang | Gu Yuting | Cao Lisi |
| Chen Meng | ||||
| 2010 | Bratislava | Zhu Yuling | Kasumi Ishikawa | Yang Ha-eun |
| Yi Fangxian | ||||
| 2011 | Manama | Chen Meng | Zhu Yuling | Gu Ruochen |
| Gu Yuting | ||||
| 2012 | Hyderabad | Zhu Yuling | Gu Yuting | Gu Ruochen |
| Petrissa Solja | ||||
| 2013 | Rabat | Gu Yuting | Liu Gaoyang | Liu Xi |
| Wang Manyu | ||||
| 2014 | Shanghai | Wang Manyu | Zhu Chaohui | Chen Ke |
| He Zhuojia | ||||
| 2015 | Vendée | Wang Manyu | Wang Yidi | Chen Ke |
| Chen Xingtong | ||||
| 2016 | Cape Town | Shi Xunyao | Mak Tze Wing | Adina Diaconu |
| Miyu Kato (Japan) | ||||
| 2017 | Riva del Garda | Sun Yingsha | Wang Manyu | Miyu Kato (Japan) |
| Qian Tianyi (Japan) | ||||
| 2018 | Bendigo | Qian Tainyi (China) | Shi Xunyao | Yumeno Soma |
| Su Pei-ling | ||||
| 2019 | Korat, Thailand | Miyu Nagasaki (Japan) | Haruna Ojio (Japan) | Wu Yangchen (China) Kim Un-song (North Korea) |
