This paper presents the design and development of a new semicircular inverted triangular shaped antenna for 5G millimeter-wave wireless applications. An alternate-mixed approach based on cavity, slots and loaded stubs is employed in the designed antenna lattice. The suggested antenna structure is formed by a radiator, partial defected metal ground plane and a 50 Ω coplanar waveguide. The proposed antenna resonated at multiple frequencies by the setting up of the proper dimensions and locations of the rectangles, elliptical cut slots and cavity stubs. Furthermore, a parametric analysis is carried out to examine the antenna’s effectiveness and impedance-matching controls. The proposed structure is realized on the low-cost RT/Duroid Rogers RO3010™ laminate with an overall small size of 1.381λ0 × 1.08λ0 × 0.098λ0, where λ0 represents the wavelength corresponding to the minimum edge frequency of the 23 GHz at 10 dB impedance bandwidth of the antenna. The antenna’s key characteristics in terms of bandwidth, gain, radiation patterns and current distribution have been investigated. The antenna exhibits high performance, including an impedance bandwidth of 19 GHz ranging from 23 GHz to 42 GHz, results in 58.46% wider relative bandwidth calculated at 10 dB scaled return loss, a peak realized gain of 6.75 dBi, optimal radiation efficiency of 89%, stable omnidirectional-shaped radiation patterns and robust current distribution across the antenna structure at multiple resonances. The designed antenna has been fabricated and simulation experiments evaluated its performance. The results demonstrate that the antenna is appropriate and can be well integrated into 5G millimeter-wave wireless communication systems.