I can’t say anything about the last World Cup, but FIFA rankings were a poor guide for Euro 2016.
I did some analysis on them - you can read about it in my blog post here:
http://www.amathsteacherwrites.co.uk/ranking-the-rankings/
The bottom line is I used something called Spearman Rank Correlation Coffeicient - a value of 1 would show perfect agreement between ranking and final position, a value above about 0.75 ish would suggest good corelation, the actual value turned out to be about 0.34: not much better than random.
But that is one of the beauties of Football, it is the most unpredictable of sports. E.g. the favourites/better team win least often than in other sports, and this is what makes it exciting to watch.