The sites are: Westminster Abbey and the Palace of Westminster; the Royal Botanical Gardens, Kew; Maritime Greenwich; the Tower of London.
The supplementary guidance is intended to support implementation of policy 7.10 of the capital's strategic planning document the London Plan by providing a consolidated source of information on understanding world heritage sites and their settings, and a development management tool setting out an approach to assessing the effect of development proposals on them.
It is not designed to define the specific settings for each site, but to ensure "a more consistent interpretation of setting and understanding of their importance", the consultation paper said.
Johnson said the sites were "the bedrock of our cultural heritage".
He added: "The challenge we face today is to maintain their integrity while allowing London to grow and prosper around them."
The consultation runs until 20 January and can be viewed here.