Men’s Individual
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 2002 | Nymburk | Thomas Nealy (USA) | ||
| 2004 | Lilleshall | Ryan Day (USA) | ||
| 2006 | Mérida | Paris Goico de Lara (DOM | ||
| 2008 | Antalya | Joey Hunt III (USA) | ||
| 2009 | Ogden | Alexander Sahi (USA) | ||
| 2011 | Legnica | Stephan Hansen (DEN) | ||
| 2013 | Wuxi | Domagoj Buden (Croatia) | Renaud Domanski (Belgium) | Mario Vavro (Croatia) |
| 2015 | Yankton | Viktor Orosz (HUN) | ||
| 2017 | Rosario | Bryan Alvarado Fernandez (Puerto Rico) | Ethan Merrill (United States) | Edgar Diaz (Mexico) |
| 2019 | Madrid |
Women’s Individual
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 2002 | Nymburk | Erika Anschutz (USA) | ||
| 2004 | Lilleshall | Antoinette Heijkers (NED) | ||
| 2006 | Mérida | Anastasia Anastasio (ITA) | ||
| 2008 | Antalya | Kailey Johnston (USA) | ||
| 2009 | Ogden | Paige Pearce (USA) | ||
| 2011 | Legnica | Emily Fischer (USA) | ||
| 2013 | Wuxi | Alexandra Savenkova (Russia) | Sonia Taniguchi (United States) | Maja Orlic (Croatia) |
| 2015 | Yankton | Fatimah Almashhadani (IRQ) | ||
| 2017 | Rosario | Lucy Mason (United Kingdom) | Alexandra Paquette (Canada) | Geesa Bybordy (Iran) |
| 2019 | Madrid |
Men’s Team
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 2002 | Nymburk | United States | ||
| 2004 | Lilleshall | |||
| 2006 | Mérida | United States | ||
| 2008 | Antalya | United States | ||
| 2009 | Ogden | Mexico | ||
| 2011 | Legnica | United States | ||
| 2013 | Wuxi | Turkey Furkan Dernekli Baris Tandogan Samet Can Yakali | Canada Logan Kupchanko Hunter McGinnis Tyler Murphy | Mexico D Ricardo Gonzalez Rodolfo Gonzalez Cecilio E Quevedo |
| 2015 | Yankton | United States | ||
| 2017 | Rosario | United States Anthony Ferraro Ethan Merrill Dane Johnson | Turkey Emircan Haney Gokhan Demirbas Bunyamin Yankac | Mexico Miguel Becerra Edgar Diaz Garcia Sebastian |
| 2019 | Madrid |
Women’s Team
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 2006 | Mérida | United States | ||
| 2008 | Antalya | United States | ||
| 2009 | Ogden | United States | ||
| 2011 | Legnica | United States | ||
| 2013 | Wuxi | United States Emily Fischer Danielle Reynolds Sonia Taniguchi | Russia Sofia Khlystova Ekaterina Makeeva Alexandra Savenkova | Great Britain Aalin Elisse George Kirsten George Rebecca Lennon |
| 2015 | Yankton | United States | ||
| 2017 | Rosario | Mexico Andrea Becerra Arizaga Sophia Sanfelice Maria Garza Espinosa | United States Sachiko Keane Savannah Vanderwier Breanna Theodore | India Divya Dhayal Khushbu Dhayal Sanchita Tiwari |
| 2019 | Madrid |
Mixed Team
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 2011 | Legnica | United States | ||
| 2013 | Wuxi | Russia Alexandra Savenkova Anton Bulaev | Croatia Maja Orlic Domagoj Buden | Mexico Fernanda Del Rocio Sandoval Cecilio E Quevedo |
| 2015 | Yankton | Mexico | ||
| 2017 | Rosario | Turkey Dilara Sevindik Emircan Haney | Mexico Andrea Becerra Arizaga Edgar Diaz | United States Sachiko Keane Dane Johnson |
| 2019 | Madrid |