All three managed 5.80 metres in the final, while Canadian Shawnacy Barber took gold with 5.90 metres.
Lisek, whose previous best was bronze at the European Indoor Championships, knew that he had to go all out in Beijing.
“I knew that if I made a mistake somewhere then there would be no chance of making it onto the podium,” he said.
“We have such a high standard in the pole vault, that 5.80 metres isn’t a guarantee of anything these days.
“This is the first medal that I have won in a stadium,” he added.
“I’m so happy that I’m lost for words – the competition was fierce and I was able to pull it off.”
Meanwhile Wojciechowski, who won gold in the 2011 World Championships, admitted that he felt a pang of loss “that it was not first place”, but said he was pleased nonetheless and looking forward to next year’s Olympics in Rio de Janeiro.
The Olympics remain the only major games that Wojciechowski has not yet won a medal in.
The World Championships run until 30 August, and the pole vault final brings Poland’s medal tally to four so far, following Paweł Fajdek’s gold in the hammer and Wojciech Nowicki’s bronze in the same discipline.