Researchers are keen to continue developing and investigating millimeter wave spectrum bands because these bands potentially provide broadband bandwidth for extremely high data transfer rates. This paper presents a comprehensive review of the recent millimeter wave antenna development, especially for 30-40 GHz, 60 GHz, and 140 GHz, with their characteristics, limitations, and challenges. Several previous millimeter wave antennas are introduced, including their broadband bandwidth, gain, feeding technique, substrate, and beamwidth. Based on their measured performances show that the millimeter wave antenna has great potential to support realizing the extremely high transfer data rate in wireless communication systems.