The Taekwondo tournament is held since 2006. The first Games only saw the participation of the men's event.

Winners

Men's tournament

-58 kg

• 2009:  Portugal Pedro Póvoa
• 2006:  Brazil Gilvan Santos

-68 kg

• 2009:  India Chandan Lakra
• 2006:  Brazil Marcos Gonçalves

-80 kg

• 2009:  São Tomé and Príncipe Eloy Boa Morte
• 2006:  Brazil Douglas Marcelino

+80 kg

• 2009:  Brazil José Kuntgner
• 2006:  Brazil L. dos Santos

Women's tournament

-49 kg

• 2009:  Brazil Fernanda Silva

-57 kg

• 2009:  Portugal Ana Rita Lopes

-67 kg

• 2009:  Brazil Raphaella Pereira

+67 kg

• 2009:  Macau Junnan Wang