From the beginning in 1962, the World Championships consisted of only two competitions: an individual race and an unofficial relay.
In 2000, a sprint race (roughly 12–15 minutes winning time).
In 2002, a short distance race (roughly 20–25 minutes) was added.
The middle distance (roughly 30–35 minutes) replaced the short distance in 2004 On IOF's 23rd congress in Lausanne in 2012, it was decided that a sprint relay event would be added in the 2016 European Orienteering Championships in Jeseník, Czech Republic.
[1] The sprint relay are competed in urban areas and consists of four-orienteer mixed-gender teams with starting order woman-man-man-woman.