The Iranian defeated top seed Tae-Hun Kim in the men's under-58kg final.
Hadipour scored first with a head shot to lead by three points, but almost immediately Kim responded with a body shot to make the scores 3-2 at the end of the first round.
The two athletes exchanged the lead, with often only a point separating them.
The South Korean had to settle for silver after losing to Hadipour 16-12.
Spain took both bronze medals as Adrian Vicente Yunta and Jesus Tortosa Cabrera lost out in the semi-finals.