On October 12, 2003, the first event was held at the Rose Court Hotel in Nagoya. Activities included a panel discussion and photography session. Five cosplayers were invited from Germany, France and Italy; "International Common Language" (MANGA is a universal language), a television programme dealing with the contemporary situation of anime and manga in Frankfurt, Paris and Rome, was produced and broadcast on November 24.

The 2004 event was held on August 1 at the Ōsu shopping district in Naka-ku, Nagoya. Eight international cosplayers were invited, and about 100 cosplayers participated in the inaugural Osu Cosplay Parade.

In 2005, the WCS was reorganized from an invitation-based system to a qualifying system with preliminary events held around the world, leading to the first WCS Cosplay Championship. Four cosplayers in single and group teams represented participating countries. Along with supporting activities, the event took place in two main locations: the Cosplay Parade was held in Osu on July 31 and the Cosplay Championship was held at the Expo Dome on August 7 during Expo 2005. 40 people from seven countries participated in the first Cosplay Championship, with France winning the group category, Italy winning the individual category, and with the overall contest winner being Italy. The initial goal of the event was to bring a part of Japanese youth culture to Expo 2005.

In 2006, the venue for the Cosplay Championship was moved to Oasis 21 in Sakae, Nagoya. Nine countries competed: Italy, Germany, France, Spain, China, Brazil, Thailand, Singapore and Japan, with a total of 22 cosplayers. The grand prize was won by brother-and-sister team Maurisio and Monica Somenzari L. Olivas, representing Brazil. (Dressed respectively as Hughes de Watteau and Augusta Vradica from Trinity Blood, they made their costumes by hand with help from their parents.) The event was supported by Japan's Ministry of Foreign Affairs (MOFA) and Ministry of Land, Infrastructure and Transport (MLIT). Over 5,000 people attended the Cosplay Championship stage event and several thousand more attended the Cosplay Parade. TV Aichi produced and broadcast, "World Cosplay Summit 2006: New Challengers".

In 2007, Denmark, Mexico and South Korea joined the event to bring the number of participating countries to 12, with a total of 28 participating cosplayers. About 10,000 people attended the Cosplay Championship. "World Cosplay Summit 2007: Giza-suge yatsura ga yattekita Z!" (The Super Cool Have Arrived!) was televised, and became a part of MLIT's 2007 "Visit Japan" campaign.

In 2008, with growing recognition of Japan's otaku culture, the Ministry of Economy, Trade and Industry (METI) became the third national ministry to join in official support of the event. About 300 cosplayers participated in the Parade. Thirteen countries with a total of 28 representative cosplayers performed in the Championship in front of 12,000 visitors. TV Aichi produced and broadcast the WCS special "Everyone's Heroes Get Together!"

In April 2009, the WCS Executive Committee was created to administrate the development and expansion of the event. The parade had grown to 500 cosplayers, and 30 participants from 15 countries competed in the Cosplay Championship before 12,000 spectators, with Australia and Finland being the two newest participating nations. The first international symposium was held at Nagoya University entitled "Outward Minded: Worldwide Impact of Cosplay and Interpretations in Japan". In 2010, the symposium was moved to the Mode Gakuen Spiral Towers.

In 2011, the Netherlands and Malaysia joined, bringing the total participating countries to 17.[7] In 2012, the United Kingdom, Indonesia and Russia entered competitively at WCS, with Hong Kong and Taiwan participating under observer status, bringing the total number of represented countries to 22. WCS expanded to 12 days for its 10th anniversary, with official visits paid to Gifu, Mie, Tottori and Aichi Prefectural offices, and a second parade was held in Ichinomiya during the Tanabata Festival. The sequence of activities were altered, with the Championship held on the Saturday and the Parade on Sunday.

In 2011, the Netherlands and Malaysia joined, bringing the total participating countries to 17.

In 2012, the United Kingdom, Indonesia and Russia entered competitively at WCS, with Hong Kong and Taiwan participating under observer status, bringing the total number of represented countries to 22. WCS expanded to 12 days for its 10th anniversary, with official visits paid to Gifu, Mie, Tottori and Aichi Prefectural offices, and a second parade was held in Ichinomiya during the Tanabata Festival. The sequence of activities were altered, with the Championship held on the Saturday and the Parade on Sunday.

In 2013, Vietnam and the Philippines joined as observer nations, bringing the overall total to 24. The event was held with the help of local and international volunteers since 2009; however, this year saw the beginning of the Omotenashi student volunteer group. This was the first year of the WCS as an independent company after 10 years of being organized by the events department of TV Aichi. This was the first year of the World Cosplay Summit has become available broadcast live via Niconico.

In 2014, the WCS Championship was first held at the Aichi Arts Center beside Oasis 21. Portugal and Kuwait joined.

In 2015, the Championship moved to the largest venue within the Aichi Arts Center called 'The Theater'.[citation needed] Canada and Sweden joined as observer nations.

In 2016, India and Switzerland joined the WCS, bringing the number of participating nations/region to 30. With this large field, the Championship was held in two stages over consecutive days. An error in tabulating the jury votes led to 18 teams being admitted to the final stage instead of the planned 16 teams. This year a backscreen was used for the first time to make a greater spectacle of the performances.

In 2017, Belgium, Chile, Myanmar, Puerto Rico, and United Arab Emirates joined, while Kuwait withdrew, bringing the number of participating nations/region to 34. This was the first year the WCS allowed the use of dialog and scenarios from Japanese live action adaptations for performances. During the final stage of the Championships, participants from Taiwan and Brazil made unexpected marriage proposals on the stage.

In 2018, Bulgaria, Costa Rica, and South Africa joined WCS. Kuwait returned to participate while Puerto Rico and United Arab Emirates were unable to send representatives, bringing the number of participating nations/regions to 36. The Championship was held in a single stage at the Dolphins Arena Gymnasium. The Taiwanese cosplayers who became engaged during the 2017 championship held their wedding ceremony in the Wedding Hall Photo Party event; at the reception, a cosplayer from Singapore made an unexpected marriage proposal. A night parade event was held for the first time at Central Park underground street

In 2019, Austria, Israel, Saudi Arabia, and Trinidad and Tobago joined WCS. United Arab Emirates returned to participate after being absent in 2018 while Kuwait and Puerto Rico were unable to send representatives for this year, bringing the number of participating nations/regions to 40. The WCS Championship expanded to a three-stage event: the Tokyo Round at Tokyo Dome City Hall on 27 August, and the semifinal and final rounds at Nagoya Aichi Arts Center. 8 teams from the Tokyo Round were granted an immediate advance to the finals, while the remaining 32 teams competed in the semi-finals with 16 of these advancing. The first two stages were broadcast on YouTube, before the top 24 teams competed in the finals. On 31 August, A bridal cosplay party was held in Wedding Hall Bleu Leman, where the male WCS Alumni 2018 from Chile made an unexpected marriage proposal during the event.

In 2020, the cosplay championship stage was cancelled due to the COVID-19 pandemic.

In 2021, Colombia, Latvia, and Ukraine joined WCS and Saudi Arabia participated as an observer. However, due to COVID-19 restrictions on gatherings and travel, a number of countries/regions were unable to send teams, including Colombia, Latvia, Austria, China, South Korea, Trinidad and Tobago, UAE, Portugal, Denmark, and Myanmar. This brought the number of participating nations to 30. WCS 2021 was planned to utilize a combination of recorded, online and in-person events. A large mosaic mural of the Oasis 21 complex depicting cosplay images of many of the campaign backers was hung at Chubu International Airport. The WCS Championship was broadcast live on multiple channels: officially on Facebook, Niconico, and YouTube and by recognized broadcasters in various languages on Bilibili, Discord, and Twitch.