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

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