A lens-enhanced phased array antenna panel includes a phased array antenna panel and at least one lens situated over the phased array antenna panel. The phased array antenna panel has a plurality of antennas arranged in a plurality of antenna segments. Each lens corresponds to at least one of the antenna segments. Each lens is configured to increase a gain of its corresponding antenna segment. Each lens increases a total gain of the phased array antenna panel. Additionally, each lens can provide an angular offset to direct a radio frequency (RF) beam onto its corresponding antenna segment.