| Year | Host City | Gold | Silver | Bronze |
|---|---|---|---|---|
| 2003 | Santiago | Li Qian | Gabriela Feher | Ai Fukuhara |
| Li Xiaoxia | Eva Tapai | Sayaka Hirano | ||
| Gaby Rohr | ||||
| Meike Rohr | ||||
| 2004 | Kobe | Chang Chenchen | Fan Ying | Daniela Dodean |
| Liu Shiwen | Wang Xuan | Elizabeta Samara | ||
| Jee Min-hyung | ||||
| Shim Se-rom | ||||
| 2005 | Linz | Ding Ning | Galia Dvorak | Yuka Ishigaki |
| Peng Xue | Sara Ramírez | Moemi Terui | ||
| Shiho Ono | ||||
| Yuri Yamanashi | ||||
| 2006 | Cairo | Wen Jia | Feng Yalan | Yuka Ishigaki |
| Mu Zi | Wu Yang | Moemi Terui | ||
| Amelie Solja | ||||
| Rosalia Stahr | ||||
| 2007 | Palo Alto | Wen Jia | Mu Zi | Ioana Ghemes |
| Li Xiaodan | Yang Yang | Elizabeta Samara | ||
| Yuka Ishigaki | ||||
| Misako Wakamiya | ||||
| 2008 | Madrid | Cao Lisi | Kim Min-hee | Yuko Fujii |
| Wang Daqin | Lee Hyun | Ayuka Tanioka | ||
| Kasumi Ishikawa | ||||
| Misaki Morizono | ||||
| 2009 | Colombia | Chen Meng | Kim Min-hee | Cao Lisi |
| Gu Yuting | Yang Ha-eun | Wu Yang | ||
| Lee Ho Ching | ||||
| Ng Wing Nam | ||||
| 2010 | Bratislava | Gu Yuting | Kasumi Ishikawa | Miyu Maeda |
| Zhu Yuling | Misaki Morizono | Ayuka Tanioka | ||
| Yi Fangxian | ||||
| Zhao Yan | ||||
| 2011 | Manama | Chen Meng | Gu Ruochen | Chen Szu-yu |
| Gu Yuting | Zhu Yuling | Cheng Hsien-Tzu | ||
| Irina Ciobanu | ||||
| Bernadette Szőcs | ||||
| 2012 | Hyderabad | Gu Yuting | Gu Ruochen | Irina Ciobanu |
| Zhu Yuling | Liu Gaoyang | Bernadette Szőcs | ||
| Miyu Maeda | ||||
| Ayuka Tanioka | ||||
| 2013 | Rabat | Gu Yuting | Liu Gaoyang | Aneta Maksuti |
| Liu Xi | Wang Manyu | Viktoria Tružinski | ||
| Jung Yu-mi | ||||
| Lee Da-som | ||||
| 2014 | Shanghai | Chen Xingtong | Miu Hirano | He Zhuojia |
| Liu Gaoyang | Mima Ito | Zhu Chaohui | ||
| Ji Eun-chae | ||||
| Lee Zion | ||||
| 2015 | Vendée | Chen Ke | Ko Un-gum | An Yeong-eun |
| Wang Manyu | Ri Yong-hae | Kim Ji-ho | ||
| Kang Da-yeon | ||||
| Kim Ha-eun | ||||
| 2016 | Cape Town | Adina Diaconu | Hina Hayata | Liu Qi |
| Andreea Dragoman | Miyu Kato | Wong Chin Yau | ||
| Mak Tze Wing | ||||
| Minnie Soo Wai Yam | ||||
| 2017 | Riva del Garda | Shi Xunyao | Qian Tianyi | Miyu Kato |
| Sun Yingsha | Wang Manyu | Miyu Nagasaki | ||
| Miyuu Kihara | ||||
| Mitsuho Kimura | ||||
| 2018 | Bendigo | Huang Fanzhen | Miyuu Kihara | Guo Yuhan |
| Shi Xunyao | Yumeno Soma | Qian Tianyi | ||
| Miyu Nagasaki | ||||
| Satsuki Odo | ||||
| 2019 | Korat, Thailand | Japan Miyuu Kihara Miyu Nagasaki | China Kuai Man Shi Xunyao | France Camille Lutz Prithika Pavade Poland Anna Węgrzyn Katarzyna Węgrzyn |
