This paper introduces an innovative and cost-effective approach for developing a millimeter-wave (mmWave) frequency-reconfigurable dielectric resonator antenna (DRA), which has not been reported before. The antenna integrates two rectangular DRA elements, where each DRA is centrally fed via a slot. A strategically positioned PIN diode is employed to exert control over performance by modulating the ON–OFF states of the diode, thereby simplifying the design process and reducing losses. In the OFF state, the first DRA, RDRA-I, exclusively supports the TE311 resonance mode at 24.3 GHz, offering a 2.66% impedance bandwidth and achieving a maximum broadside gain of 9.2 dBi. Conversely, in the ON state, RDRA-I and RDRA-II concurrently operate in the TE513 resonance mode at 29.3 GHz, providing a 2.7% impedance bandwidth and yielding a high gain of up to 11.8 dBi. Experimental results substantiate that the proposed antenna presents an attractive solution for applications necessitating frequency-reconfigurable and high-performance mmWave antennas in 5G and Beyond 5G (B5G) communication systems.