Let $\mathcal{G}_{k,n}$ be the gauge group of the principal $\mathrm{Sp}(n)$-bundle over $S^4$ corresponding to $k\in\mathbb{Z}\cong\pi_3(\mathrm{Sp}(n))$. We refine the result of Sutherland on the homotopy types of $\mathcal{G}_{k,n}$ and relate it with the order of a certain Samelson product in $\mathrm{Sp}(n)$. Then we classify the $p$-local homotopy types of $\mathcal{G}_{k,n}$ for $(p-1)^2+1\ge 2n$.