A high-efficiency microstrip-fed endfire angled-dipole antenna has been developed for millimeter-wave phased array applications. The antenna is built on both sides of a Teflon substrate (epsivr = 2.2) and this allows a wideband feed from the single-ended microstrip line to the differential dipole. The design results in wide radiation patterns for scanning purposes with a gain of around 2.5 dB at 20-26 GHz and a cross-polarization level of < -15 dB at 24 GHz. A mutual coupling of < -23 dB is measured between adjacent elements with 6.8 mm center-to center spacing (0.50-0.54 lambda0 at 22-24 GHz). A variant of the angled-dipole antenna with a magnetic ground plane edge was also developed, and shows a measured gain of > 6 dB at 23.2-24.6 GHz and very low mutual coupling between elements (<-23 dB for a 6.8 mm spacing). Both antennas result in a radiation efficiency of > 93% when referenced to the microstrip line feed (including mismatch loss). The usefulness of these antennas as phased array radiators is demonstrated by several eight-element linear arrays at 22-24 GHz with scan angle up to 50 degrees. The application areas are in automotive radars and high data-rate communication systems.