In this paper, a full-wave analytical theory has been proposed based on the field theory approach and numerically solved for computing radiation properties of the dielectric-loaded helical antenna (DLHA). First, the dispersion equation is analytically derived from the source-free Maxwell equation subject to necessary boundary conditions. Then radiation characteristics of DLHA are derived using the field theory approach. The effect of polarization current arising due to dielectric on radiation properties is addressed for the first time in the case of DLHA. All the numerical analysis is carried out in MATLAB. To further validate the results, computation analysis is carried out using CST Microwave Studio Software. From the result, it was observed that when the circumference of the antenna (C) is comparable to the wavelength (λ) corresponding to operating frequency then the wave propagates axially through the helical wire in the axial direction and is radiated in the end-fire direction whereas when the circumference is not equal to the wavelength then the wave gets radiated in the normal direction and attenuated in the axial direction. Also, the impedance bandwidth of the antenna is increased from 2.5% to 52.9% and the gain is increased from 8.35 dB to 11.5 dB due to teflon loading. Finally, the antenna prototype is fabricated, measured, and compared with the numerical and computational results. A close agreement between the analytical, computational, and measurement results are found.