This paper presents a novel compact substrate-integrated waveguide (SIW) antenna that can be utilized for several applications, such as fifth generation (5 G), internet of things (IoT), artificial intelligence, and medical applications. Six antennas are designed. In addition, there are single SIW, 2 × 1 arrays, and 4 × 1 arrays with and without slots. The proposed feeding method is implemented to create a slot antenna array with incorporating KS connector. The proposed designs target the 25–28 GHz band, covering up to 3 GHz of bandwidth depending on the configuration. The structures are designed and simulated using a numerical technique package (CST). The simulation results demonstrate that the SIW antenna array functions efficiently in terms of the gain, return loss, and radiation patterns. Furthermore, the proposed structures have a total volume of 62 mm × 55 mm × 0.508 mm. In conclusion, the experimental results demonstrate that the performance of the proposed antenna is in good agreement with the simulations. Moreover, the gain increased from 8.5 dBi for the single SIW antenna to 14.7 dBi for the four-element array at 26 GHz, indicating a 72.9% improvement.