A low cost, broadband and compact antenna in package solution (AiP) is proposed for 60 GHz low-power radar sensor applications. Following a glass integrated passive device (Glass-IPD) manufacturing process, a compact low cost taper slot antenna (TSA) is designed on a substrate with a thickness beyond Yngvesson's range. To realize high gain and front-to-back ratio, the antenna is optimized by introducing a truncated ground. A 1 × 2 antenna array prototype is realized with a dummy transmission line chip in the dimension of 5 × 7.4 mm 2. Including the flip chip interconnect, the measured results demonstrate a 10 dB impedance bandwidth of 47.2 ∼ 67 GHz. The calculated gain is higher than 6.5 dBi in the end-fire direction over the entire 60 GHz band. Based on a physical RLC equivalent circuit, by co-design of the antenna with solder balls, the flip chip interconnect is compensated with a passive network. For the compensation network, its working bandwidth is from 0.1 to 67 GHz, while its insertion loss at 60 GHz is less than 0.2 dB. INDEX TERMS 60 GHz, antenna in package (AiP), CPW-slotline transition, flip-chip, glass integrated passive device (Glass-IPD), radar sensors, taper slot antenna (TSA).