Men’s Individual
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 1994 | Roncegno | Randall Copp (USA) | ||
| 1996 | Chula Vista | Bart Winterton (USA) | ||
| 1998 | Sunne | Adam Wheatcroft (USA) | ||
| 2000 | Belfort | Adam Wheatcroft (USA) | ||
| 2002 | Nymburk | Florian Faucheur (FRA | ||
| 2004 | Lilleshall | Braden Gellenthien (USA) | ||
| 2006 | Mérida | Palton Hansda (IND) | ||
| 2008 | Antalya | Mads Juul Krogshede (DEN) | ||
| 2009 | Ogden | Cody Thompson (USA) | ||
| 2011 | Legnica | Colann Schreuders (NED) | ||
| 2013 | Wuxi | Stephan Hansen (Denmark) | Rajat Chauhan (India) | Jignas Chittibomma (India) |
| 2015 | Yankton | Stephan Hansen (Denmark) | ||
| 2017 | Rosario | Curtis Broadnax (United States) | Jesse Clayton (United States) | Antonio Hidalgo Ibarra (Mexico) |
| 2019 | Madrid |
Women’s Individual
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 1994 | Roncegno | Nicole Bartlett (AUS) | ||
| 1996 | Chula Vista | Angela Moscarelli (USA) | ||
| 1998 | Sunne | Ashley Kamuf (USA) | ||
| 2000 | Belfort | Amber Dawson (USA) | ||
| 2002 | Nymburk | Camilla Soemod (DEN) | ||
| 2004 | Lilleshall | Tiffany Reeves (USA) | ||
| 2006 | Mérida | Doris Jones (CAN) | ||
| 2008 | Antalya | Kendal Nicely (USA) | ||
| 2009 | Ogden | Inge van Caspel (NED) | ||
| 2011 | Legnica | Kendal Nicely (USA) | ||
| 2013 | Wuxi | Sara Lopez (Colombia) | Janine Meissner (Germany) | Kailey Johnston (United States) |
| 2015 | Yankton | Tanja Jensen (DEN) | ||
| 2017 | Rosario | Alexis Ruiz (United States) | Sarah Moon (United Kingdom) | Gizem Elmaagacl (Turkey) |
| 2019 | Madrid |
Men’s Team
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 1994 | Roncegno | Sweden | ||
| 1996 | Chula Vista | Australia | ||
| 1998 | Sunne | United States | ||
| 2000 | Belfort | United States | ||
| 2002 | Nymburk | Sweden | ||
| 2004 | Lilleshall | |||
| 2006 | Mérida | United States | ||
| 2008 | Antalya | Russia | ||
| 2009 | Ogden | United States | ||
| 2011 | Legnica | Canada | ||
| 2013 | Wuxi | Mexico Mario Cardoso Adolfo Medina David Montiel | United States Danny Button Bridger Deaton Alex Wifler | India Rajat Chauhan Jignas Chittibomma Sudhakar Kumar Paswan |
| 2015 | Yankton | Turkey | ||
| 2017 | Rosario | Mexico Rodolfo Gonzalez Jose Elizondo Del Bosque Antonio Hidalgo Ibarra | Canada Cole Beres Jordan Adachi Tristan Moran | United States Curtis Broadnax Jesse Clayton Kolby Hanley |
| 2019 | Madrid |
Women’s Team
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 1994 | Roncegno | United States | ||
| 1996 | Chula Vista | United States | ||
| 1998 | Sunne | France | ||
| 2000 | Belfort | United States | ||
| 2002 | Nymburk | United States | ||
| 2004 | Lilleshall | |||
| 2006 | Mérida | United States | ||
| 2008 | Antalya | United States | ||
| 2009 | Ogden | United States | ||
| 2011 | Legnica | Mexico | ||
| 2013 | Wuxi | United States Kailey Johnston Lexi Keller Paige Pearce | Russia Elena Elizarova Anna Lemeza Maria Vinogradova | India Swati Dudhwal Jayalakshmi Sarikonda Jyothi Surekha Vennam |
| 2015 | Yankton | United States | ||
| 2017 | Rosario | Mexico Fernanda Zepeda Esmeralda Sanchez Laura Perez Chavez | United Kingdom Isabelle Carpenter Phoebe Pine Sarah Moon | United States Cassidy Cox Alexis Ruiz Sophia Strachan |
| 2019 | Madrid |
Mixed Team
| Year | Location | Gold | Silver | Bronze |
|---|---|---|---|---|
| 2011 | Legnica | Netherlands | ||
| 2013 | Wuxi | Colombia Sara Lopez Camilo Andres Cardona | United States Kailey Johnston Alex Wifler | India Jyothi Surekha Vennam Jignas Chittibomma |
| 2015 | Yankton | Colombia | ||
| 2017 | Rosario | United Kingdom Sarah Moon James Howse | United States Alexis Ruiz Jesse Clayton | Colombia Nora Valdez Sebastian Arenas |
| 2019 | Madrid |