Maguire, 26, improved on fifth and sixth-placed finishes in the 1500m and 400m by claiming his first world medal after a sprint finish in the 800m.
He was just 0.03 seconds ahead of Kuwait’s Faisal Alrajehi, with China’s Dai Yunqiang and Hu Yang claiming gold and silver.
“It was just a case of holding on for dear life until the end of the race,” said the Kirby-based athlete.
“I have been to every single major championship since 2016 and this is the first time I have got on the World Championship podium.
“To do it now gives me a lot of confidence going into the rest of the year, knowing I can race these guys and beat them.”
Britain’s tally of seven gold medals, two silvers and three bronzes in Kobe helped them finish fourth in the medal table, with the Paralympic Games in Paris due to begin on 28 August.