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: Pedro Póvoa 2006: Gilvan Santos

-68 kg 2009: Chandan Lakra 2006: Marcos Gonçalves

-80 kg 2009: Eloy Boa Morte 2006: Douglas Marcelino

+80 kg 2009: José Kuntgner 2006: L. dos Santos

Women's tournament -49 kg 2009: Fernanda Silva

-57 kg 2009: Ana Rita Lopes

-67 kg 2009: Raphaella Pereira

+67 kg 2009: Junnan Wang