The team of Fiona Pennie, Lizzie Neave and Kimberley Woods produced a controlled effort to beat Germany into second place by over four seconds.
"The team event was a nice consolation prize after not doing as well as we'd have liked to in the individual event," said Neave.
"We all had a really good run and it's always nice to come away with a medal."
Mallory Franklin won bronze in the women's C1 in Liptovsky on Saturday, while there was also a gold for the women's C1 team and a bronze for their male counterparts.

The match had been set for 24 January at Seaview but now a new venue and date will be arranged by organisers.
Linfield lodged an appeal against the County Antrim FA's decision to play the final at Crusaders' Shore Road venue.
The match gives David Healy the chance of a first trophy since taking over as Linfield manager in October 2015.
Under Northern Ireland's record goalscorer, the Blues have lost in Irish Cup and Shield finals and also finished runners-up in the Irish Premiership last season.
The most likely date for this season's Shield decider is Tuesday, 7 February and the choice of venue appears to be between the Oval in Belfast or the Showgrounds at Ballymena.
Meanwhile, Glenavon have confirmed that they have signed defender/midfielder Aaron Canning from Championship club Loughgall until the end of the season.
Great Britain women's K1 trio won gold as GB ended the European Championships in Slovakia with four medals.
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The County Antrim Shield final is to be held at a neutral venue after Linfield challenged a decision to stage it at the ground of opponents Crusaders.