An antenna is of substantial importance for a communication system as the design of an air interface is mainly reliant on the antenna design. With the significant wireless evolution from 1G to 6G, technologies and network capacities are also evolving to fulfill the promptly growing customer demands. These continually increasing demands have gone concurrently with extensive technological accomplishments of the antenna design community. This chapter discusses the sub-6 GHz and millimeter-wave (mm-wave) fifth-generation (5G) antennas, including antenna arrays, multiple-input, multiple-output (MIMO) technology, beam-steering techniques, metasurfaces, and other techniques to achieve the current and impending fast connectivity. Moreover, the design specifications, research directions, various technologies expected to be involved, and challenges in the design, fabrication, and measurement of the sixth-generation (6G) antennas at the THz band have also been presented. In addition, antenna-in-package (AiP) and antenna-on-chip (AoC) technologies with proper technology solutions have also been discussed.