Artistic roller skating was introduced as a World Games sport at the 1981 World Games in Santa Clara, California.
| 1981 Santa Clara | ||||
| 1985 London | ||||
| 1989 Karlsruhe | ||||
| 1993 The Hague | ||||
| 1997 Lahti | ||||
| 2001 Akita | ||||
| 2005 Duisburg | ||||
| 2009 Kaohsiung | ||||
| 2013 Cali | ||||
| 2017 Wrocław | ||||
| 2022 Birmingham |
| 1981 Santa Clara | ||||
| 1985 London | ||||
| 1989 Karlsruhe | ||||
| 1993 The Hague | ||||
| 1997 Lahti | ||||
| 2001 Akita | ||||
| 2005 Duisburg | ||||
| 2009 Kaohsiung | ||||
| 2013 Cali | ||||
| 2017 Wrocław | ||||
| 2022 Birmingham |
| 1981 Santa Clara | Tina Kneisley Paul Price | Ann Green Rick Elsworth | Sylvia Gingras Guy Aubin | |
| 1985 London | Robyn Young Ken Benson | Cathy Hayduk Mark Pollard | Anette Munzing Michael Seeger | |
| 1989 Karlsruhe | Tina Jeru Larry McGrew | Nicole Friedel Thomas Löhe | Kirsten Murphy David Morrison | |
| 1993 The Hague | Maura Ferri Patrick Venerucci | Dezera Salas David DeMotte | Gabriela Mugica Flavio Fissolo | |
| 1997 Lahti | Gari Phillips Marc Goohs | Amy York Brian Richardson | Kerstin Sacher Stefan Müller | |
| 2001 Akita | Beatrice Palazzi-Rossi Patrick Venerucci | Candice Heiden William Crowder | Luciana Hyodo Max Coelho | |
| 2005 Duisburg | Marika Zanforlin Federico Degli Esposti | Tanja Bänsch Patrick Friede | Aubrey Orcutt Robert Hines | |
| 2009 Kaohsiung | Sara Venerucci Matteo Guarise | Aubrey Orcutt Robert Hines | Christiane Reich Hannes Muschol | |
| 2013 Cali | Sara Venerucci Danilo Decembrini | Florencia Mariel Moyano Javier Luis Anzil | Giulia Merli Daniele Ragazzi | |
| 2017 Wrocław | Rebecca Tarlazzi Luca Lucaroni | Sara Venerucci Marco Garelli | Marine Portet Nathanaël Fouloy |
| 1981 Santa Clara | Holly Valente William Richardson | Cindy Smith Mark Howard | Kim Geoghegan Eamon Geoghegan | |
| 1985 London | Anna Danks Scott Myers | Andrea Steudte Martin Hauss | Jeannie Parks Rob Galambos | |
| 1989 Karlsruhe | Claudia Rinaldi Alberto Borsarini | Jodee Viola Greg Goody | Andrea Weppelmann Hendryk Schamberger | |
| 1993 The Hague | Deanna Monahan Doug Wait | Alessandra Lanzoni Roberto Stanzari | Annamaria Culcasi Franco Culcasi | |
| 1997 Lahti | Swantje Gebauer Alex Haber | Tara Graney Timothy Patten | Harriet Graham Jeffrey Clement | |
| 2001 Akita | Melissa Quinn Adam White | Ester Ambrus Gawaine Davis | Analia Silvana Martínez Gaston Passini | |
| 2005 Duisburg | Monica Coffele Marco Bomati | Enrica Gasparini Gabriele Gasparini | Julie Locke Logan Boggs | |
| 2009 Kaohsiung | Enrica Gasparini Gabriele Gasparini | Ayelen Morales Oscar Molins | Erin Ovens Jonathan Cross | |
| 2013 Cali | Anna Remonidi Alessandro Spigai | Marcela Cruz Leonardo Parrado | ||
| 2017 Wrocław | Elena Leoni Alessandro Spigai | Silvia Stibilj Andrea Bassi | Mariana Souto José Souto | |
| 2022 Birmingham | Ana Luisa Monteiro Pedro Monteiro | Asya Sofia Testoni Giovanni Piccolantonio | Brayan Carreno Daniela Gerena |