The contribution of bulk inversion asymmetry to the total spin-orbit coupling is commonly neglected for group III-V nanowires grown in the generic [111] direction. We have solved the complete Hamiltonian of the circular nanowire accounting for bulk inversion asymmetry via exact numerical diagonalization. Three different symmetry classes of angular momentum states exist, which reflects the threefold rotation symmetry of the crystal lattice about the [111] axis. A particular group of angular momentum states contains degenerate modes which are strongly coupled via the Dresselhaus Hamiltonian, which results in a significant energy splitting with increasing momentum. Hence, under certain conditions Dresselhaus spin-orbit coupling is relevant for [111] InAs and [111] InSb nanowires. We demonstrate momentum-dependent energy splittings and the impact of Dresselhaus spin-orbit coupling on the dispersion relation. In view of possible spintronics applications relying on bulk inversion asymmetry we calculate the spin expectation values and the spin texture as a function of the Fermi energy. Finally, we investigate the effect of an axial magnetic field on the energy spectrum and on the corresponding spin polarization.@en