The 20-year-old timed 1hr 20min 58sec as he crossed the line to roars of delight from the crowd, ahead of China's Olympic champion Chen Ding (1hr 21min 09sec) while Spaniard Miguel Lopez, fifth in the Olympics, took bronze (1hr 21min 21sec).
Ivanov said that it signified a changing of the guard in Russian walking, and that although he had found parts of his first senior championships race tough the youngsters had replaced the veterans.
"My main aim is Rio 2016," he said.
Chen was delighted with the silver after a miserable time since his Olympic triumph that has been hampered by injuries and this was his first race back.
"I haven't had a good time since then, but I think this has lifted me out of the hole," said the 21-year-old.
Japanese youngster Takuma Saito set the early pace once the field had left the stadium, opening a significant gap on a group of three, who were themselves clear of the main pack.
Saito's more experienced team-mate, the Asian champion Yusuke Suzuki gave chase and had reduced the gap to just two seconds at the 5km mark, while the main pack was 13sec adrift.
Suzuki, 25, held a 13sec lead at the halfway mark but faced a daunting final 10km as a sextet, which included the first three from last year's Olympics including China's Chen and bronze medallist Wang Zhen as well as Guatemala's silver medalist Erick Barrondo closed him down.
The game was up soon afterwards as Suzuki was caught.
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