This work presents a unique non-invasive method for monitoring glucose levels in blood using a planar Yagi–Uda antenna as a microwave sensor. The proposed antenna, operating at 5.5 GHz, exhibits a directional radiation pattern with a peak gain of 6.74 dBi. A low-cost FR4 material of size 30 mm × 40 mm × 1.6 mm is used as a dielectric substrate. A human finger phantom, comprising layers of skin, fat, blood, and bone, is created at 5.5 GHz in EM simulation tool for mimicking a real human finger. The finger phantom is positioned at different locations around the antenna and corresponding frequency shifts are remarked to a variation in glucose concentration from 0–500 mg/dL. An exemplary frequency shift of maximum 26 MHz is recorded when the phantom is placed at the bottom of the antenna. Time domain analysis is also carried out to understand the effect of glucose concentration variation on the output signal amplitude and delay. Simulated antenna results are found to be in stupendous agreement with the measured results. An experiment of placing a real human finger around the fabricated antenna also presents a splendid correspondence with the simulated results. Hence, this mechanism can be expedient for monitoring glucose levels in blood.