The following is the qualification system and qualified athletes for the Taekwondo at the 2019 Pan American Games competitions.
Each nation may enter a maximum of 13 athletes (eight in Kyorugi and five in Poomsae).
The host nation, Peru, automatically qualifies the maximum number of athletes (13) and is entered in each event.
The spots were awarded at the qualification tournament held in Santo Domingo in March 2019.
An extra quota was also awarded in the women's individual event.