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The terahertz (THz) antennas, which have features of small size, wide fre-quency bandwidth and high data rate, are im-portant devices for transmitting and receiving THz electromagnetic waves in the emerging THz systems. However, most of THz anten-nas suffer from relatively high loss and low fabrication precision due to their small sizes in high frequency bands of THz waves. There-fore, this paper presents a detailed overview of the most recent research on the performance improvement of THz antennas. Firstly, the de-velopment of THz antennas is briefly reviewed and the basic design ideas of THz antennas are introduced. Then, THz antennas are catego-rized as metallic antennas, dielectric antennas and new material antennas. After that, the latest research progress in THz photoconduc-tive antennas, THz h antennas, THz lens antennas, THz microstrip antennas and THz on-chip antennas are discussed. In particular, the practical difficulties for the development of THz antennas are discussed with promising approaches. In addition, this paper also pres-ents a short review of the process technology of THz antennas. Finally, the vital challenges and the future research directions for THz an-tennas are presented.