The 26-year-old Maguire placed fifth and sixth in the 1500m and 400m before winning a sprint finish in the 800m to win his first world championship medal.
He finished just 0.03 seconds ahead of Kuwait’s Faisal Alrajehi, with China’s Dai Yunqiang and Fu Yan taking the gold and silver medals.
“I just had to hang in there until the end of the race,” the Kirby-based athlete said.
“I’ve competed in every major championship since 2016, but this is my first time on the podium at World Championships.
“Now that I’ve achieved this, it gives me a lot of confidence going into the rest of the year knowing I can compete with these guys and win.”
Great Britain came in fourth on the medals list in Kobe, winning seven gold, two silver and three bronze medals. The Paralympics in Paris are due to begin on 28 August.