| Location | Team | Individual | |
|---|---|---|---|
| 1961 | Aachen (GER) | Gold – David Broome/Sunsalve | |
| 1962 | London (GBR) | Gold – David Barker/Mr Softee | |
| 1963 | Rome (ITA) | Bronze – Harvey Smith/Warpaint | |
| 1967 | Rotterdam (NED) |
Gold – David Broome/Mr Softee Silver – Harvey Smith/Harvester |
|
| 1969 | Hickstead (GBR) | Gold – David Broome/Mr Softee | |
| 1971 | Aachen (GER) | Silver – Harvey Smith/Evan Jones | |
| 1973 | Hickstead (GBR) | Gold – Paddy McMahon | |
| 1977 | Vienna (AUT) | Silver – Derek Ricketts, Debbie Johnsey, Harvey Smith, David Broome | |
| 1979 | Rotterdam (NED) | Gold – Malcolm Pyrah, Derek Ricketts, Caroline Bradley, David Broome | |
| 1981 | Munich (GER) | Silver – Malcolm Pyrah/Anglezarke | |
| 1983 | Hickstead (GBR) | Silver – Harvey Smith, David Broome, John Whitaker, Malcolm Pyrah | Silver – John Whitaker/Ryans Son |
| 1985 | Dinard (FRA) | Gold – Nick Skelton, Michael Whitaker, Malcolm Pyrah, John Whitaker | Bronze – John Whitaker/Hopscotch |
| 1987 | St Gallen (SWI) | Gold – Nick Skelton, Michael Whitaker, Malcolm Pyrah, John Whitaker |
Silver – John Whitaker/Milton Bronze – Nick Skelton/Apollo |
| 1989 | Rotterdam (NED) | Gold – Nick Skelton, Michael Whitaker, John Whitaker, Joe Túri |
Gold – John Whitaker/Milton Silver – Michael Whitaker/Mon Santa |
| 1993 | Gijón (POR) | Silver – Nick Skelton, Michael Whitaker, Mark Armstrong, John Whitaker | Bronze – Michael Whitaker/Midnight Madness |
| 1995 | St Gallen (SWI) | Silver – Nick Skelton, Michael Whitaker, Bradley, John Whitaker | Silver – Michael Whitaker/Two Step |
| 1997 | Mannheim (GER) | Bronze – Michael Whitaker, Geoff Billington, Robert Smith, John Whitaker | |
| 2007 | Mannheim (GER) | Bronze – Michael Whitaker, David McPherson, Ellen Whitaker, John Whitaker | |
| 2011 | Madrid (SPA) | Bronze – Nick Skelton, Guy Williams, Ben Maher, John Whitaker | Bronze – Nick Skelton/Carlo |
| 2013 | Herning (DEN) | Gold – Ben Maher, Michael Whitaker, William Funnell, Scott Brash |
Silver – Ben Maher/Cella Bronze – Scott Brash/Hello Sanctos |
| 2019 | Rotterdam (NED) | Bronze – Ben Maher, Holly Smith, Amanda Derbyshire, Scott Brash | Silver – Ben Maher/Explosion W |