Money from the sale of the gloves, in the latest charity auction by Telford boxing legend Richie Woodhall, will go to the town's Jayne Sargent Foundation.
The foundation, which was founded by Colin Sargent in memory of his wife Jane who died aged 56 following a long battle with breast cancer, provides support for people who have been diagnosed with all forms of the disease.
The auction was held at Halls auctioneers in Shrewsbury on Wednesday, four days after Joshua defeated American Eric Molina to retain his IBF world title.
Joshua will now take on Wladimir Klitschko at Wembley on April 29 in an attempt to become the world No 1.
Jayne Sargent Foundation trustee Sarah Bennett said she wanted to thank Richie, Joshua and Halls for their support. She added: "We are thrilled to have the support of Richie as it helps us let more people know of our service. The money will be used to help people living with cancer in Telford through the social group we run on the last Tuesday of each month at Meeting Point House, as well as psychological and complementary therapies to help us live better with cancer."
Richie, who grew up in the Woodside area of Telford, has been holding regular auctions of boxing memorabilia over the past 12 months to raise money for cancer charities.
The auctions are being held in memory of Richie's father Len, who died last year from the disease at the age of 75.