Controlling the process of second-harmonic (SH) generation at the nanoscale is important in photonic applications but remains challenging in nanophotonics. Herein, based on theoretical and experimental studies, we found that a cross-shaped single-element plasmonic nanoantenna resonating with bright and dark modes at the fundamental (excitation) and SH wavelengths, respectively, generates radially polarized ring-shaped SH radiations with axial symmetry by exciting the bright dipole mode with linearly polarized light. Mode expansion analysis of the generated SH radiation revealed that the radial polarization arises from a dark breathing mode in which coherent dipoles are radially distributed along the arms of the cross-shaped antenna. This study reveals that surface SH polarization generated by the electric near-field of the bright mode at the fundamental wavelength efficiently is coupled to the dark modes rather than the bright mode because its spatial distribution has the same symmetry as the dark modes. By engineering bright and dark modes at the fundamental and SH wavelengths, respectively, novel plasmonic nanodevices that simultaneously perform polarization control and efficient wavelength conversion are expected.