| 1987 – Indianapolis, Ind. | ||
| Diane Simpson | Gold | RP, RB |
| Silver | AA, HP | |
| Marina Kunyavsky | Bronze | CL |
| 1991 – Havana, Cuba | ||
| Naomi Hewitt-Couturier | Silver | CL |
| Bronze | RP | |
| Jenifer Lovell | Bronze | BA |
| Bronze | ||
| 1995 – Mar del Plata, Argentina | ||
| Tamara Levinson | Gold | RB |
| Silver | AA | |
| Bronze | RP, BA | |
| Jessica Davis | Silver | CL, RB |
| Bronze | AA | |
| Group | Silver | |
| Team | Gold | |
| 1999 – Winnipeg, Canada | ||
| Jessica Howard | Silver | AA |
| 2003 – Santo Domingo, Dominican Republic | ||
| Mary Sanders | Gold | AA, BA, CL, RB |
| Olga Karmansky | Silver | AA, BA |
| 2007 – Rio de Janeiro, Brazil | ||
| Lisa Wang | Gold | AA, RB |
| Silver | RP, CL | |
| Julie Zetlin | Silver | RB |
| 2011 – Guadalajara, Mexico | ||
| Julie Zetlin | Gold | AA, BA, HP, RB |
| Jessica Bogdanov, Megan Frohlich, Aimee Gupta, Michelle Przybylo, Sofya Roytburg, Sydney Sachs | Silver | 5BA |
| Bronze | 3RB/2HP | |
| 2015 – Toronto, Canada | ||
| Laura Zeng | Gold | AA, HP, BA, CL, RB |
| Jazzy Kerber | Silver | AA, HP, BA, RB |
| Bronze | CL | |
| Kiana Eide, Alisa Kano, Natalie McGiffert, Monica Rokhman, Jennifer Rokhman, Kristen Shaldybin | Gold | 6CL 2HP |
| Silver | AA, 5RB | |
| 2019 – Lima, Peru | ||
| Evita Griskenas | Gold | AA, HP, BA, RB |
| Bronze | CL | |
| Camilla Feeley | Gold | CL |
| Silver | AA | |
| Bronze | HP, BA | |
| Isabelle Connor, Yelyzaveta Merenzon, Elizaveta Pletneva, Nicole Sladkov, Kristina Sobolevskaya | Silver | AA, 5BA |
