These are the official results of the Men's 20 km Walk event at the 1991 World Championships in Tokyo, Japan. There were a total number of 37 participating athletes, with the final held on Saturday August 24, 1991, with the start at 08:30h local time.
| Gold |  Maurizio DamilanoItaly (ITA) | |
| Silver | Mikhail Shchennikov Soviet Union (URS) | |
| Bronze | Yevgeniy Misyulya Soviet Union (URS) |
| DNS | did not start | |
| NM | no mark | |
| WR | world record | |
| AR | area record | |
| NR | national record | |
| PB | personal best | |
| SB | season best |
| Standing records prior to the 1991 World Athletics Championships | |||||
|---|---|---|---|---|---|
| 1:18.13 | September 16, 1990 | Hildesheim, Germany | |||
| 1:20.45 | August 30, 1987 | Rome, Italy | |||
| Broken records during the 1991 World Athletics Championships | |||||
| 1:19.37 | August 24, 1991 |  Tokyo, Japan | |||
| RANK | FINAL | TIME | |
|---|---|---|---|
| 1:19:37 CR | |||
| 1:19:46 | |||
| 1:20:22 | |||
| 4. | 1:20:29 | ||
| 5. | 1:20:29 | ||
| 6. | 1:20:52 | ||
| 7. | 1:21:01 | ||
| 8. | 1:21:15 | ||
| 9. | 1:21:22 | ||
| 10. | 1:21:32 | ||
| 11. | 1:21:35 | ||
| 12. | 1:21:37 | ||
| 13. | 1:21:44 | ||
| 14. | 1:21:57 | ||
| 15. | 1:22:03 | ||
| 16. | 1:22:18 | ||
| 17. | 1:22:34 | ||
| 18. | 1:23:09 | ||
| 19. | 1:23:27 | ||
| 20. | 1:23:44 | ||
| 21. | 1:24:06 | ||
| 22. | 1:24:10 | ||
| 23. | 1:24:35 | ||
| 24. | 1:24:54 | ||
| 25. | 1:25:20 | ||
| 26. | 1:25:22 | ||
| 27. | 1:25:30 | ||
| 28. | 1:25:52 | ||
| 29. | 1:29:28 | ||
| 30. | 1:29:47 | ||
| 31. | 1:30:55 | ||
| 32. | 1:38:36 | ||
| - | DNF | ||
| - | DNF | ||
| - | DSQ | ||
| - | DSQ | ||
| - | DSQ |