This work proposes a new compact triple-band triangular patch antenna for RF energy harvesting applications in IoT devices. It is realized on Teflon glass substrate with a thickness of 0.67 mm and a relative permittivity of 2.1. Four versions of this antenna have been designed and realized with inclinations of 0°, 30°, 60° and 90° to study the impact of the tilting on their characteristics (S11 parameter, radiation pattern, gain) and to explore the possibilities of their implementation in the architectures of electronic equipment according to the available space. The antenna is also realized on waterproof paper with a thickness of 0.1 mm and a relative permittivity of 1.4 for biomedical domain. All the antennas (vertical antenna, tilted antennas and antenna realized on waterproof paper) have a size of 39 × 9 mm2 and cover the 2.45 GHz and 5.2 GHz Wi-Fi bands and the 8.2 GHz band. A good agreement is obtained between measured and simulated results. Radiation patterns show that all the antennas are omnidirectional for 2.45 GHz and pseudo-omnidirectional for 5.2 GHz and 8.2 GHz with maximum measured gains of 2.6 dBi, 4.55 dBi and 6 dBi, respectively. The maximum measured radiation efficiencies for the three antenna configurations are, respectively, of 75%, 70% and 72%. The Specific Absorption Rate (SAR) for the antenna bound on the human body is of 1.1 W/kg, 0.71 W/kg and 0.45 W/kg, respectively, for the three frequencies 2.45 GHz, 5.2 GHz and 8.2 GHz. All these antennas are then applied to realize RF energy harvesting systems. These systems are designed, realized and tested for the frequency 2.45 GHz, −20 dBm input power and 2 kΩ resistance load. The maximum measured output DC power is of 7.68 µW with a maximum RF-to-DC conversion efficiency of 77%.