Extending the notion of symmetry protected topological phases to insulating antiferromagnets (AFs) described in terms of opposite magnetic dipole moments associated with the magnetic Néel order, we establish a bosonic counterpart of topological insulators in semiconductors. Making use of the Aharonov-Casher effect, induced by electric field gradients, we propose a magnonic analog of the quantum spin Hall effect (magnonic QSHE) for edge states that carry helical magnons. We show that such up and down magnons form the same Landau levels and perform cyclotron motion with the same frequency but propagate in opposite direction. The insulating AF becomes characterized by a topological Z2 number consisting of the Chern integer associated with each helical magnon edge state. Focusing on the topological Hall phase for magnons, we study bulk magnon effects such as magnonic spin, thermal, Nernst, and Ettinghausen effects, as well as the thermomagnetic properties of helical magnon transport both in topologically trivial and nontrivial bulk AFs and establish the magnonic Wiedemann-Franz law. We show that our predictions are within experimental reach with current device and measurement techniques.