A method to enhance the gain of substrate integrated waveguide (SIW) beam scanning antenna is proposed in this article. 2 × 2 SIW cavity‐backed sub‐arrays are employed in array design. The antenna is constructed on two layers. The top layer places four SIW cavity‐backed sub‐arrays as radiating elements and the bottom layer is an SIW transmission line to feed the sub‐arrays. Beam scanning feature can be obtained due to the frequency dispersion. Moreover, through separating radiators to the other layer and using 2 × 2 SIW cavity‐backed sub‐arrays as radiating parts, the antenna gain is improved significantly. For a linear array, 4.1 to 6.8 dB gain enhancement is achieved compared to a conventional SIW beam scanning antenna with the same length. Then, the linear array is expanded to form a planar array for further gain improvement. A 64‐element planar beam scanning array is designed, fabricated, and tested. Experimental results show that the proposed planar array has a bandwidth from 18.5 GHz to 21. 5 GHz with beam scanning angle from −5° to 11.5° and gain in the range of 20.5 to 21.8 dBi. The proposed high gain beam scanning antennas have potential applications in radar detection and imaging.