This study aims to provide an overview and deployment of Substrate-Integrated Waveguide (SIW) based antenna and arrays, with different configurations, feeding mechanisms, and performances. Their performance improvement methods, including bandwidth enhancement, size reduction, and gain improvement are also discussed based on available literature. SIW technology, which acts as a bridge between planar and non-planar technology, is a very favorable candidate for the development of components operating at microwave and millimeter wave band. Due to this, SIW antennas and array take the advantages of both classical metallic waveguide, which includes high gain, high power capacity, low cross polarization, and high selectivity, and that of planar antennas which comprises low profile, light weight, low fabrication cost, conformability to planar or bent surfaces, and easy integration with planar circuits.