This paper briefly overviews and discusses the existing techniques using antennas for passive sensing, starting from the antenna operating principle and antenna structural design to different antenna-based sensing mechanisms. The effects of different electrical properties of the material used to design an antenna, such as conductivity, loss tangent, and resistivity, are discussed to illustrate the fundamental sensing mechanisms. Furthermore, the key parameters, such as operating frequency and antenna impedance, along with the factors affecting the sensing performance, are discussed. Overall, passive sensing using an antenna is mainly achieved by altering the reflected wave characteristics in terms of center frequency, return loss, phase, and received/reflected signal strength. The advantages and drawbacks of each technique are also discussed briefly. Given the increasing relevance, millimeter-wave antenna sensors and resonator sensors are also discussed with their applications and recent advancements. This paper primarily focuses on microstrip-based radiating structures and insights for further sensing performance improvement using passive antennas, which are outlined in this study. In addition, suggestions are made for the current scientific and technical challenges, and future directions are discussed.