An antenna (plural: antennae) is one of a pair of appendages used for sensing in arthropods. Antennae are sometimes referred to as feelers.

Antennae are connected to the first one or two segments of the arthropod head. They vary widely in form but are always made of one or more jointed segments. While they are typically sensory organs, the exact nature of what they sense and how they sense it is not the same in all groups. Functions may variously include sensing touch, air motion, heat, vibration (sound), and especially smell or taste. Antennae are sometimes modified for other purposes, such as mating, brooding, swimming, and even anchoring the arthropod to a substrate. Larval arthropods have antennae that differ from those of the adult. Many crustaceans, for example, have free-swimming larvae that use their antennae for swimming. Antennae can also locate other group members if the insect lives in a group, like the ant.

The common ancestor of all arthropods likely had one pair of uniramous (unbranched) antenna-like structures, followed by one or more pairs of biramous (having two major branches) leg-like structures, as seen in some modern crustaceans and fossil trilobites. Crustaceans have two pairs of antennae, and all non-crustacean arthropods have a single pair of antennae, except for the chelicerates and proturans, which have none.

Crustaceans bear two pairs of antennae. The pair attached to the first segment of the head are called primary antennae or antennules. This pair is generally uniramous, but is biramous in crabs and lobsters and remipedes. The pair attached to the second segment are called secondary antennae or simply antennae. The second antennae are plesiomorphically biramous, but many species later evolved uniramous pairs. The second antennae may be significantly reduced (e.g. remipedes) or apparently absent (e.g. barnacles).

The subdivisions of crustacean antennae have many names, including flagellomeres (a shared term with insects), annuli, articles, and segments. The terminal ends of crustacean antennae have two major categorizations: segmented and flagellate. An antenna is considered segmented if each of the annuli is separate from those around it and has individual muscle attachments. Flagellate antennae, on the other hand, have muscle attachments only around the base, acting as a hinge for the flagellum—a flexible string of annuli with no muscle attachment.

There are several notable non-sensory uses of antennae in crustaceans. Many crustaceans have a mobile larval stage called a nauplius, which is characterized by its use of antennae for swimming. Barnacles, a highly modified crustacean, use their antennae to attach to rocks and other surfaces. The second antennae in the burrowing Hippoidea and Corystidae have setae that interlock to form a tube or "snorkel" which funnels filtered water over the gills.

Some claim insects evolved from prehistoric crustaceans, and they have secondary antennae like crustaceans, but not primary antennae. Antennae are the primary olfactory sensors of insects and are accordingly well-equipped with a wide variety of sensilla (singular: sensillum). Paired, mobile, and segmented, they are located between the eyes on the forehead. Embryologically, they represent the appendages of the second head segment.

All insects have antennae, however they may be greatly reduced in the larval forms. Amongst the non-insect classes of the Hexapoda, both Collembola and Diplura have antenna, but Protura do not.