We report results from a study of $B^\pm \rightarrow DK^\pm$ decays followed by $D$ decaying to $CP$~eigenstates, where $D$ indicates a $D^0$ or $\bar{D}^{0}$ meson. These decays are sensitive to the Cabibbo-Kobayashi-Maskawa unitarity-triangle angle $\phi_{3}$. The results are based on a combined analysis of the final data set of $772 \times 10^6~B\bar{B}$ pairs collected by the Belle experiment and a data set of $198 \times 10^6~B\bar{B}$ pairs collected by the Belle~II experiment, both in electron-positron collisions at the $\Upsilon(4S)$ resonance. We measure the $CP$ asymmetries to be $\mathcal{ A}_{CP +} =~(+12.5 \pm 5.8 \pm 1.4)\% $ and $\mathcal{ A}_{CP -} =~(-16.7 \pm 5.7 \pm 0.6)\%$, and the ratios of branching fractions to be $\mathcal{ R}_{CP+}=~1.164 \pm 0.081 \pm 0.036 $ and $\mathcal{ R}_{CP-} =~1.151 \pm 0.074 \pm 0.019$. The first contribution to the uncertainties is statistical, and the second is systematic. The asymmetries $\mathcal{A}_{CP +}$ and $\mathcal{A}_{CP -}$ have similar magnitudes and opposite signs; their difference corresponds to 3.5~standard deviations. From these values we calculate 68.3\% confidence intervals of ($8.5^{\circ}<\phi_{3}<16.5^{\circ}$) or ($84.5^{\circ}<\phi_{3}<95.5^{\circ}$) or ($163.3^{\circ}<\phi_{3}<171.5^{\circ}$) and $0.321<r_{B}<0.465$.