| Year | Host City | Gold | Silver | Bronze |
|---|---|---|---|---|
| 2003 | Santiago | Zheng Changgong | Ma Long | Cho Eon-rae |
| Li Xiaoxia | Cao Zhen | Shim Se-rom | ||
| Yuichi Tokiyoshi | ||||
| Midori Ito | ||||
| 2004 | Kobe | Zhou Bin | Ma Long | Cho Eon-rae |
| Liu Shiwen | Chang Chenchen | Shim Se-rom | ||
| Seiya Kishikawa | ||||
| Ai Fukuhara | ||||
| 2005 | Linz | Kang Dong-hoon | Žolt Pete | Dimitrij Ovtcharov |
| Shim Se-rom | Gabriela Feher | Amelie Solja | ||
| Abdel-Kader Salifou | ||||
| Elizabeta Samara | ||||
| 2006 | Cairo | Xu Ke | Jiang Haiyang | Ruwen Filus |
| Mu Zi | Wen Jia | Amelie Solja | ||
| Wu Hao | ||||
| Feng Yalan | ||||
| 2007 | Palo Alto | Xu Ruifeng | Song Shichao | Kenji Matsudaira |
| Mu Zi | Li Xiaodan | Kasumi Ishikawa | ||
| Zhang Shengwunan | ||||
| Yang Yang | ||||
| 2008 | Madrid | Song Hongyuan | Seo Hyun-deok | Cheng Jingqi |
| Cao Lisi | Song Ma-eum | Wang Daqin | ||
| Kenta Matsudaira | ||||
| Kasumi Ishikawa | ||||
| 2009 | Colombia | Fang Bo | Daniel Kosiba | Jung Young-sik |
| Gu Yuting | Dora Csilla Madarasz | Kim Min-hee | ||
| Lin Gaoyuan | ||||
| Chen Meng | ||||
| 2010 | Bratislava | Wu Jiaji | Lin Gaoyuan | Soumyajit Ghosh |
| Gu Yuting | Zhu Yuling | Ng Wing Nam | ||
| Zhou Yu | ||||
| Yi Fangxian | ||||
| 2011 | Manama | Song Hongyuan | Zheng Peifeng | Lin Gaoyuan |
| Chen Meng | Gu Yuting | Zhu Yuling | ||
| Wu Jiaji | ||||
| Gu Ruochen | ||||
| 2012 | Hyderabad | Fan Zhendong | Lin Gaoyuan | Frederick Jost |
| Liu Gaoyang | Gu Ruochen | Petrissa Solja | ||
| Xu Chenhao | ||||
| Zhu Yuling | ||||
| 2013 | Rabat | Kong Lingxuan | Zhou Qihao | Mutti Leonardo |
| Liu Xi | Gu Yuting | Rakovac Lea | ||
| Asuka Sakai | ||||
| Sakura Mori | ||||
| 2014 | Shanghai | Wang Chuqin | Lyu Xiang | Xue Fei |
| Chen Xingtong | Wang Manyu | Liu Gaoyang | ||
| Yu Ziyang | ||||
| He Zhuojia | ||||
| 2015 | Vendée | Xue Fei | Wang Chuqin | Ho Kwan Kit |
| Chen Ke | Chen Xingtong | Minnie Soo Wai Yam | ||
| Zhu Cheng | ||||
| Wang Manyu | ||||
| 2016 | Cape Town | Choi Seung-min | Yuki Matsuyama | Darko Jorgic |
| Kim Ji-ho | Hina Hayata | Izabela Lupulesku | ||
| Xu Haidong | ||||
| Yuan Yuan | ||||
| 2017 | Riva del Garda | Xue Fei | An Jaehyun | Cristian Pletea |
| Wang Manyu | Kim Jiho | Adina Diaconu | ||
| Wang Chuqin | ||||
| Sun Yingsha | ||||
| 2018 | Bendigo | Xu Yingbin | Yu Heyi | Feng Yi-hsin |
| Shi Xunyao | Qian Tianyi | Su Pei-ling | ||
| Xu Haidong | ||||
| Gui Yuhan | ||||
| 2019 | Korat, Thailand | Japan Yukiya Uda Miyuu Kihara | China Xu Yingbin Shi Xunyao | China Xiang Peng Kuai Man China Liu Yebo Wu Yangchen |
