A new and upcoming application is the use of 60 GHz antennas for high date rate point-to-point connections to serve Gigabit (Gi-Fi) wireless communications. The design of Millimeter wave (MmW) antennas has to cope with the unadorned influences of manufacturing tolerances and losses at 60 GHz. In this paper, the concept of Substrate Integrated Waveguide (SIW) and Exponentially Tapered Slot (ETS) antenna were used together to design a high gain, efficient planar dielectric loaded antenna for MmW Gi-Fi wireless communications at 60 GHz. The SIW is used to feed the antenna and a dielectric is utilized in front of the antenna to increase the gain. The dielectric loaded ETS antenna and compact SIW feed were fabricated on a single substrate, resulting in low cost and easy fabrication. The antenna with elliptical shaped dielectric loaded was fabricated using printed circuit board process. The measured gain of the single element antenna is 10.2 dB, while the radiation efficiency of 96.84% is obtained at 60 GHz. The Y-junction SIW power divider is used to form a 1×4 array structure. Measured gain of the 1 × 4 array antenna is 13.3 dB, while the measured radiation pattern and gain are almost constant within the wide bandwidth of the antenna.