| 1971 – Cali, Colombia | ||
| Kimberly Chase, Theresa Fileccia, Adele Gleaves, Linda Metheny, Roxanne Pierce, Terry Spencer | Gold | Women’s Team |
| Roxanne Pierce | Gold | AA, VT, UB |
| Bronze | BB, FX | |
| Linda Metheny | Gold | FX |
| Silver | AA, UB | |
| Kim Chace | Gold | BB |
| Silver | FX | |
| Bronze | AA, UB | |
| Adele Gleaves | Bronze | VT |
| Gary Anderson, David Butzman, John Crosby, John Ellas, Thomas Lindner, Brent Simmons | Silver | Men’s Team |
| John Ellas | Gold | PB |
| Silver | SR | |
| Bronze | PH | |
| John Crosby | Gold | FX, SR |
| Silver | AA, PH, PB, HB | |
| Bronze | VT | |
| Brent Simmons | Bronze | HB |
| David Butzman | Bronze | PB |
| 1975 – Mexico City, Mexico | ||
| Ann Carr, Kolleen Casey, Diane Dunbar, Kathy Howard, Roxanne Pierce, Debbie Wilcox | Gold | Women’s Team |
| Ann Carr | Gold | AA, UB, BB, FX |
| Roxanne Pierce | Gold | UB |
| Silver | AA | |
| Bronze | VT, BB, FX | |
| Kolleen Casey | Gold | VT |
| Silver | BB | |
| Bronze | AA | |
| Kathy Howard | Silver | FX |
| Diane Dunbar | Bronze | UB |
| Debbie Wilcox | Silver | VT |
| Marshall Avener, Bart Conner, Peter Kormann, Kurt Thomas, Glenn Tidwell, Gene Whelan | Men’s Team | Gold |
| Peter Kormann | Gold | FX |
| Kurt Thomas | Silver | PH, VT |
| Bronze | AA, HB | |
| Gene Whelan | Silver | HB, PB |
| Bronze | PH | |
| Marshall Avener | Bronze | VT |
| Bart Conner | Bronze | FX, SR |
| 1979 – San Juan, Puerto Rico | ||
| Jeanine Creek | Gold | FX |
| Silver | AA | |
| Jackie Cassello | Gold | VT |
| Silver | BB | |
| Heidi Anderson | Silver | FX |
| Daniel Muenz | Silver | PB |
| Jeff LaFleur | Bronze | SR |
| 1983 – Caracas, Venezuela | ||
| Tracy Bulter, Yumi Mordre, Cindy Rosenberry, Trina Tinti, Lucy Wener, Lisa Wittwer | Gold | Women’s Team |
| Lucy Wener | Gold | UB |
| Yumi Mordre | Gold | FX |
| Silver | AA | |
| Lisa Wittwer | Silver | UB |
| Bronze | AA, VT, FX | |
| Tracy Butler | Bronze | BB |
| Brian Babcock, Tom Beach, Mark Caso, Billy Paul, Mario McCutcheon, Joey Ray | Silver | Men’s Team |
| Brian Babcock | Silver | AA, PH |
| Billy Paul | Bronze | HB |
| Tom Beach | Silver | PB |
| Mark Caso | Bronze | FX, SR |
| 1987 – Indianapolis, Ind. | ||
| Rhonda Faehn, Kelly Garrison-Steves, Sabrina Mar, Melissa Marlowe, Kristie Phillips, Hope Spivey | Gold | Women’s Team |
| Melissa Marlowe | Gold | UB |
| Sabrina Mar | Gold | AA |
| Silver | UB, FX | |
| Bronze | BB | |
| Kristie Phillips | Gold | FX |
| Silver | AA | |
| Bronze | VT | |
| Kelly Garrison-Steves | Gold | BB |
| Bronze | AA | |
| Tim Daggett, Kevin Davis, Brian Ginsberg, Scott Johnson, Charles Lakes, Tom Schlesinger | Gold | Men’s Team |
| Scott Johnson | Gold | AA, SR, PB |
| Silver | FX, PH, VT, HB | |
| Tim Daggett | Gold | PH |
| Bronze | AA | |
| Brian Ginsberg | Bronze | SR |
| 1991 – Havana, Cuba | ||
| Hillary Anderson, Juliet Bangerter, Kristin McDermott, Chelle Stack, Stephanie Woods, Anne Woynerowski | Gold | Women’s Team |
| Stephanie Woods | Gold | AA, BB |
| Chelle Stack | Gold | FX |
| Silver | AA | |
| Hillary Anderson | Silver | UB |
| Anne Woynerowski | Silver | VT |
| Trent Dimas, Jeff Lutz, Dominick Minicucci, Bob Stelter, Mike Racanelli, Mark Warburton | Silver | Men’s Team |
| Mike Racanelli | Gold | FX |
| Trent Dimas | Bronze | FX, HB |
| Dominick Minicucci | Gold | PB |
| Bronze | PH | |
| Bob Stelter | Bronze | SR |
| 1995 – Mar del Plata, Argentina | ||
| Mary Beth Arnold, Amanda Borden, Amy Chow, Shannon Miller, Kristy Powell, Katie Teft, Doni Thompson | Gold | Women’s Team |
| Shannon Miller | Gold | AA, UB, FX |
| Silver | VT | |
| Amanda Borden | Gold | BB |
| Silver | AA, FX | |
| Amy Chow | Gold | VT |
| Bronze | AA, UB | |
| Mihai Bagiu, Stephen McCain, John Roethlisberger, Bill Roth, Kip Simons, Chainey Umphrey, Chris Waller | Gold | Men’s Team |
| John Roethlisberger | Silver | AA, SR |
| Gold | HB | |
| Mihai Bagiu | Silver | PH |
| Bill Roth | Silver | FX, HB |
| 1999 – Winnipeg, Canada | ||
| Jeanette Antolin, Alyssa Beckerman, Jamie Dantzscher, Erinn Dooley, Jennie Thompson, Morgan White | Silver | Women’s Team |
| Morgan White | Gold | AA |
| Bronze | UB | |
| Jennie Thompson | Bronze | AA |
| Raj Bhavsar, Michael Ashe, Stephen McCain, Michael Dutka, Chris Young, Michael Moran | Silver | Men’s Team |
| 2003 – Santo Domingo, Dominican Republic | ||
| Allyse Ishino, Nastia Liukin, Courtney McCool, Chellsie Memmel, Marcia Newby, Tia Orlando | Gold | Women’s Team |
| Chellsie Memmel | Gold | AA, UB |
| Bronze | BB | |
| Nastia Liukin | Gold | BB |
| Silver | AA | |
| Bronze | UB, FX | |
| David Durante, Dan Gill, Jonathan Horton, David Sender, Clay Strother, Guard Young | Bronze | Men’s Team |
| Tia Orlando | Gold | FX |
| Courtney McCool | Silver | VT |
| David Durante | Silver | AA |
| Clayton Strother | Bronze | FX, PH |
| 2007 – Rio de Janiero, Brazil | ||
| Rebecca Bross, Ivana Hong, Shawn Johnson, Nastia Liukin, Samantha Peszek, Amber Trani | Gold | Women’s Team |
| Shawn Johnson | Gold | AA, UB, BB |
| Silver | FX | |
| Nastia Liukin | Silver | UB, BB |
| Rebecca Bross | Gold | FX |
| Silver | AA | |
| Ivana Hong | Bronze | AA |
| Amber Trani | Silver | VT |
| Guillermo Alvarez, David Durante, Sean Golden, Joey Hagerty, Justin Spring, Todd Thornton | Bronze | Men’s Team |
| Guillermo Alvarez | Silver | FX |
| Bronze | AA | |
| Justin Spring | Gold | PB |
| Sean Golden | Silver | SR |
| 2011 – Guadalajara, Mexico | ||
| Bridgette Caquatto, Jessie DeZiel, Brandie Jay, Shawn Johnson, Grace McLaughlin, Bridget Sloan | Gold | Women’s Team |
| Bridgette Caquatto | Gold | AA, UB |
| Brandie Jay | Gold | VT |
| Shawn Johnson | Silver | UB |
| Donothan Bailey, Christopher Maestas, Tyler Mizoguchi, Sho Nakamori, Paul Ruggeri, Brandon Wynn | Bronze | Men’s Team |
| Paul Ruggeri | Gold | HB |
| Silver | PB | |
| Brandon Wynn | Gold | SR |
| 2015 – Toronto, Canada | ||
| Madison Desch, Rachel Gowey, Amelia Hundley, Emily Schild, Megan Skaggs | Gold | Women’s Team |
| Madison Desch | Silver | AA |
| Rachel Gowey | Gold | UB |
| Amelia Hundley | Silver | FX |
| Bronze | UB | |
| Megan Skaggs | Silver | BB |
| Marvin Kimble, Steven Legendre, Sam Mikulak, Paul Ruggeri, Donnell Whittenburg | Gold | Men’s Team |
| Marvin Kimble | Gold (Tie) | PH |
| Sam Mikulak | Gold | AA |
| Bronze | FX | |
| Bronze | PB | |
| Paul Ruggeri | Bronze | HB |
| Donnell Whittenburg | Silver | FX |
| Silver | SR | |
| Silver | VT | |
| 2019 – Lima Peru | ||
| Kara Eaker, Aleah Finnegan, Morgan Hurd, Riley McCusker, Leanne Wong | Gold | Women’s Team |
| Riley McCusker | Gold | UB |
| Silver | AA | |
| Bronze | BB | |
| Leanne Wong | Silver | UB |
| Kara Eaker | Gold | BB |
| Silver | FX | |
| Cameron Bock, Grant Breckenridge, Brody Malone, Robert Neff, Genki Suzuki | Silver | Men’s Team |
| Robert Neff | Silver | FX, PH |
| Cameron Bock | Bronze | PB |
