A low-profile three-dimensional substrate integrated waveguide (SIW) horn antenna array with its novel feeding structure is proposed in this article. The feeding element is capable of transforming the wave from one plane to its orthogonal plane. Such type of three-dimensional SIW, H-plane horn antenna design is not available in the existing literature. The design is proposed to provide high gain for radar, 5G, and satellite communication applications. The single SIW horn antenna does not have significant gain at the desired frequencies. When the antenna element is loaded with dielectric the gain improves by 1.4 dB. The antenna elements are further arranged in a box shape, forming a three-dimensional array, which improves the gain significantly. Such structure shows dual band characteristics and provides gain of 11.3 dB at 28.26 GHz and 9.64 dB at 29.41 GHz. The same three-dimensional design when loaded with dielectric at the aperture end also show a dual band behavior and improve the gain further to 12.5 dB at 28.12 GHz and 12.55 dB at 29.28 GHz. The proposed three-dimensional antenna designs are compared to four element linear array designs, and it shows substantial improvement in gain for the desired frequency.