We present a rectangular loop Yagi–Uda antenna based on the three-dimensional (3-D) printing technology. The antenna comprises a ground plane, a rectangular loop driven element, and rectangular loop directors. The loop driven element is about λ0/20 above the ground plane and is fed by a 50 Ω microstrip feedline. We fabricated the Yagi–Uda antenna by two materials 3-D printing technology and the following chemical plating process. The measured results show the antenna's working frequency is at 2.392 GHz while the |S 11|, gain, and efficiency are –12.63 dB, 8.99 dBi, and 79.5%, respectively. The experimental results are in a good agreement with the design. Our loop Yagi–Uda antenna features good antenna performances, small size, and easy fabrication, which can be an excellent candidate for antenna arrays and applications that need directional radiation property. Our work paves the way to the application of 3-D printing technology in the field of antennas.