The present disclosure belongs to the field of radio frequency circuit design, and in particular relates to a M×N millimeter wave and terahertz planar dipole end-fire array antenna. The M×N millimeter wave and terahertz planar dipole end-fire array antenna is composed of M paths of N× end-fire linear array antennas arranged at equal intervals, and the distance d between two adjacent N× end-fire linear array antennas is less than λ, where λ is the wavelength, and both M and N are integers greater than 1. By connecting linear type feed networks of the M paths of N× end-fire linear array antennas to M-path in-phase radio frequency signal transmitter and controlling the distance between two adjacent N× end-fire linear array antennas to be less than the effective wavelength, a higher gain and a higher half-power width can be realized, and the power consumption of the transmitter can be reduced.