The AIGCP had claimed last month that the "overwhelming majority of its WorldTour members" had voted to skip the Championships, claiming that the UCI had been unwilling to "offer fair and consistent terms of participation".

Participation in the men’s elite time trial had been compulsory for the 18 teams who are part of the UCI’s WorldTour.

Unlike other WorldTour events, which are not run by the UCI, teams have had to compete at the World Championships at their own expense.

A total of 200 points had been available for the WorldTour team classification as a result of the time trial.

Ahead of this year’s edition, which is due to take place in Doha, from October 9 until 16, the UCI have confirmed they have now reached an agreement with the AIGCP to ensure a maximum number of WorldTour teams will take part in the event.

"Acknowledging teams' concerns raised by the AIGCP, the UCI has opted for a non-compulsory format for UCI WorldTeams," a UCI statement read.

"As a result, no UCI WorldTour points will be awarded, bringing the men's team time trial event in line with the rest of the UCI Road World Championship events.

"It was also agreed that the model of the event shall be revised for future editions in collaboration with the AIGCP."

The UCI have confirmed that AG2R La Mondiale, Astana Pro Team, BMC Racing Team, Etixx – Quick Step, Movistar Team, Orica-Bikeexchange, Team Giant - Alpecin, Team Katusha, Team Lotto NL - Jumbo and Team Sky will all compete in the men’s team time trial.

More teams are expected to announce their participation in the event in the coming days, according to the UCI.

BMC Racing are the defending men’s time trial world champions, having triumphed at last year’s World Championships in Richmond.