| Year | Venue | Medalists | Team rank |
| Gold | Silver | Bronze |
| 1951 | Helsinki | — | Mahmoud Mollaghasemi
Gholamreza Takhti | Mehdi Yaghoubi
Abdollah Mojtabavi | 4th |
| 1954 | Tokyo | Tofigh Jahanbakht
Abbas Zandi | Mohammad Ali Fardin | — | 3rd |
| 1957 | Istanbul | Nabi Sorouri | Hossein Mollaghasemi | — | 3rd |
| 1959 | Tehran | Emam-Ali Habibi
Gholamreza Takhti | — | — | 4th |
| 1961 | Yokohama | Ebrahim Seifpour
Mohammad Ali Sanatkaran
Emam-Ali Habibi
Mansour Mehdizadeh
Gholamreza Takhti | Nasrollah Soltaninejad | Hamid Tavakkol | 1st |
| 1962 | Toledo | Emam-Ali Habibi
Mansour Mehdizadeh | Mohammad Khadem
Gholamreza Takhti | — | 3rd |
| 1963 | Sofia | — | Ebrahim Seifpour | Mansour Mehdizadeh | 5th |
| 1965 | Manchester | Ebrahim Seifpour
Abdollah Movahed
Mansour Mehdizadeh | Mohammad Ali Farrokhian
Mohammad Ali Sanatkaran | — | 1st |
| 1966 | Toledo | Abdollah Movahed | — | Aboutaleb Talebi
Hossein Tahami
Abolfazl Anvari | 4th |
| 1967 | New Delhi | Abdollah Movahed | — | Aboutaleb Talebi | 3rd |
| 1969 | Mar del Plata | Ebrahim Javadi
Abdollah Movahed | Mohammad Ghorbani
Shamseddin Seyed-Abbasi | Aboutaleb Talebi
Abolfazl Anvari | 3rd |
| 1970 | Edmonton | Ebrahim Javadi
Shamseddin Seyed-Abbasi
Abdollah Movahed | Mohammad Farhangdoust | Mohammad Ghorbani | 3rd |
| 1971 | Sofia | Ebrahim Javadi
Mohammad Ghorbani | Shamseddin Seyed-Abbasi
Mohammad Farhangdoust | — | 2nd |
| 1973 | Tehran | Ebrahim Javadi
Mohsen Farahvashi
Mansour Barzegar | — | Mohammad Reza Navaei | 2nd |
| 1974 | Istanbul | — | Ramezan Kheder | — | 7th |
| 1975 | Minsk | — | Mansour Barzegar | — | 8th |
| 1977 | Lausanne | — | Mansour Barzegar | — | 6th |
| 1978 | Mexico City | — | Mohammad Hossein Mohebbi
Reza Soukhtehsaraei | Mohammad Bazmavar
Mohammad Rezaei | 3rd |
| 1979 | Did not participate |
| 1981 | Skopje | — | Reza Soukhtehsaraei | — | 5th |
| 1982 | Edmonton | — | — | — | 6th |
| 1983 | Did not participate |
| 1985 | Budapest | — | Majid Torkan | — | 13th |
| 1986–1987 | Did not participate |
| 1989 | Martigny | Alireza Soleimani | Askari Mohammadian | Majid Torkan | 5th |
| 1990 | Tokyo | Majid Torkan | — | Amir Reza Khadem
Mohammad Hassan Mohebbi | 4th |
| 1991 | Varna | Amir Reza Khadem | — | Oveis Mallah | 3rd |
| 1993 | Toronto | Akbar Fallah | Gholamreza Mohammadi | — | 7th |
| 1994 | Istanbul | Rasoul Khadem | Mohammad Talaei | Gholamreza Mohammadi
Behrouz Yari | 4th |
| 1995 | Atlanta | Rasoul Khadem | Gholamreza Mohammadi
Akbar Fallah | Abbas Jadidi | 2nd |
| 1997 | Krasnoyarsk | Mohammad Talaei
Abbas Hajkenari | — | Alireza Heidari | 3rd |
| 1998 | Tehran | Alireza Dabir
Alireza Heidari
Abbas Jadidi | Abbas Hajkenari
Rasoul Khadem | Gholamreza Mohammadi | 1st |
| 1999 | Ankara | — | Alireza Dabir
Alireza Heidari | Abbas Jadidi | 4th |
| 2001 | Sofia | — | Babak Nourzad
Alireza Dabir
Amir Tavakkolian | — | 3rd |
| 2002 | Tehran | Mehdi Hajizadeh | Alireza Dabir
Alireza Heidari | Mohammad Talaei
Majid Khodaei | 1st |
| 2003 | New York City | — | Alireza Heidari | Alireza Rezaei | 3rd |
| 2005 | Budapest | — | — | Morad Mohammadi | 6th |
| 2006 | Guangzhou | Morad Mohammadi | Ali Asghar Bazri | Reza Yazdani
Fardin Masoumi | 2nd |
| 2007 | Baku | — | Saeid Ebrahimi | Reza Yazdani | 7th |
| 2009 | Herning | Mehdi Taghavi | Fardin Masoumi | Sadegh Goudarzi | 3rd |
| 2010 | Moscow | — | Sadegh Goudarzi | Morad Mohammadi | 4th |
| 2011 | Istanbul | Mehdi Taghavi
Reza Yazdani | Sadegh Goudarzi | Hassan Rahimi | 2nd |
| 2013 | Budapest | Hassan Rahimi
Reza Yazdani | Ezzatollah Akbari | Masoud Esmaeilpour
Ehsan Lashgari | 1st |
| 2014 | Tashkent | — | Masoud Esmaeilpour
Ahmad Mohammadi
Komeil Ghasemi | Hassan Rahimi
Mohammad Hossein Mohammadian | 2nd |
| 2015 | Las Vegas | — | Hassan Rahimi
Hassan Yazdani | Ahmad Mohammadi
Alireza Karimi | 2nd |
| 2016 | Budapest | — | — | Mostafa Hosseinkhani | N/A |
| 2017 | Paris | Hassan Yazdani | — | — | 9th |
| 2018 | Budapest | — | — | Hassan Yazdani
Alireza Karimi
Parviz Hadi | 6th |
| 2019 | Nur-Sultan | Hassan Yazdani | Alireza Karimi | Behnam Ehsanpour
Younes Emami | 3rd |
| 2021 | Oslo | Hassan Yazdani
Kamran Ghasempour
Amir Hossein Zare | Alireza Sarlak
Amir Mohammad Yazdani
Mohammad Nokhodi | Mojtaba Goleij | 3rd |
| 2022 | Belgrade | Rahman Amouzad
Kamran Ghasempour | Reza Atri
Mohammad Nokhodi
Hassan Yazdani | Younes Emami
Amir Hossein Zare | 2nd |
| 2023 | Belgrade | Amir Hossein Zare | Amir Mohammad Yazdani
Hassan Yazdani | Mohammad Nokhodi | 2nd |
| 2024 | Tirana | — | — | Mohammad Nokhodi | 3rd |
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