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We develop a 24-GHz switch-antenna array frequency-modulated continuous-wave (FMCW) radar system composed of a single transmitter, a single transmitting antenna, four receiving antennas, a single-pole four-throw (SP4T) switch, and a single receiving channel. The antennas are integrated with radio-frequency (RF) and intermediate-frequency (IF) circuits to reduce the interconnection loss and realize a compact whole size. The receiving antennas are periodically switched to the single receiving channel. The performance of the developed system is evaluated using beamforming methods to estimate the angle, range, and velocity.