The Antigonid Macedonian army was the army that evolved from the ancient Greek kingdom of Macedonia in the period when it was ruled by the Antigonid dynasty from 294 BC to 288 BC and from 276 BC to 168 BC. It was seen as one of the principal Hellenistic fighting forces until its ultimate defeat at Roman hands at the Battle of Pydna in 168 BC. However, there was a brief resurgence in 150-148 during the revolt of Andriscus, a supposed heir to Perseus.

Starting as just a mere handful of mercenary troops under Antigonus Gonatas in the 270s BC, the Antigonid army eventually became the dominant force in Hellenistic Greece, fighting campaigns against Epirus, the Aetolian League, Sparta, Athens, Rhodes and Pergamon, not to mention the numerous Thracian and Celtic tribes that threatened Macedon from the north.

The Antigonid army, as with the army of Philip II and Alexander the Great that came before it, was based principally around the Macedonian phalanx, which was a solid formation of men armed with small shields and long pikes called sarissae. The majority of Macedonian troops serving in the army would have made up the numbers of the phalanx, which took up to one-third to two-thirds of the entire army on campaign. Alongside the phalanx, the Antigonid army had its elite corps, the Peltasts, numerous Macedonian and allied cavalry and always a considerable amount of allied and mercenary infantry and auxiliary troops, but it relied more on the phalanx and less on the combined arms tactics of Philip's and Alexander's Macedonian army.

The Macedonian army continued to evolve under the Antigonid dynasty. It is uncertain how many men were appointed as somatophylakes bodyguards, which numbered eight men at the end of Alexander the Great's reign, while the hypaspistai seem to have morphed into assistants of the somatophylakes rather than a separate unit in their own right. At the Battle of Cynoscephalae in 197 BC, the Macedonians commanded some 16,000 phalanx pikemen. Alexander the Great's 'royal squadron' of companion cavalry were similarly numbered to the 800 cavalrymen of the 'sacred squadron' (Latin: sacra ala; Greek: hiera ile) commanded by Philip V of Macedon during the Social War of 219 BC. Due to the Roman historian Livy's accounts of the battles of Callinicus in 171 BC and Pydna in 168 BC, it is known that the Macedonian cavalry were also divided into groups with similarly named officers as had existed in Alexander's day. The regular Macedonian cavalry numbered 3,000 at Callinicus, which was separate from the 'sacred squadron' and 'royal cavalry'. Thanks to contemporary inscriptions from Amphipolis and Greia dated 218 and 181 respectively, historians have been able to partially piece together the organization of the Antigonid army under Philip V, such as its command by tetrarchai officers assisted by grammateis (i.e. secretaries or clerks).

When Antigonus Gonatas took over from his father, Demetrius I of Macedon, he inherited little more than a few mercenary garrisons spread across Greece. But using his mercenary forces, he was able to defeat an invading Celtic army at Lysimachea in 277 BC. This gave Gonatas the Macedonian throne, which had been in turmoil since the Galatian invasions of 279 BC. However, when Pyrrhus of Epirus invaded Macedon in 274 BC, Antigonus' army suffered some minor defeats and desertions before eventually defecting en masse to Pyrrhus. Once again Gonatas was left with but a mere handful of followers and mercenaries. These forces were of considerable aid to Sparta when Pyrrhus assaulted the city in 272 BC. Pyrrhus was soon killed by a combined effort of the Spartans, the Argives and Antigonus Gonatas. Having now recovered Macedon after the death of Pyrrhus, Gonatas ruled until 239 BC. At this point, the Antigonid kingdom probably had no standing army; the only permanent corps, besides the mercenaries, being the 'horse guards... and the foot guards, the agema'. The army was probably formed by a levy of farmers called out when a serious campaign was expected. Almost all overseas and garrison work was performed by mercenaries. Due to the financial strains that plagued the kingdom, Gonatas primarily hired Galatian and Celtic mercenaries, as they were much cheaper than Greeks. Antigonus Gonatas ruled directly over the original Macedonian kingdom, however he put the newly acquired territory under the control of a strategoi with military powers. By the time of his death, Gonatas had cemented Antigonid dominance in Macedon; however, in Greece itself, Macedon was weaker than it had been under Alexander the Great. This would change with his successors though.

Demetrius II, father of the future Philip V of Macedon, only ruled for 10 years, but in his reign he fought many campaigns against the northern Thracian, Celtic and Illyrian tribes as well as an Achaean-Aetolian alliance. However his swift death left Antigonus Doson as regent for the young Philip. A resurgent Sparta under Cleomenes III led to war in the Peloponnese and the Achaean League under Aratus of Sicyon turned to Antigonus Doson for help. Doson campaigned against Cleomenes in 224-22 BC. This culminated with the Battle of Sellasia in 222 BC, in which Cleomenes was defeated by an allied army, mainly anchored by a Macedonian army of 13,300 Macedonians and 5,300 mercenaries.

After the death of Doson, Philip V took the throne and almost immediately began to campaign. Wars against the Aetolia, Sparta and Elis, as well as a Dardanian invasion kept Philip busy in the years 220-217 BC and gave him a great deal of military experience. Yet Philip's rule would be marked by war with Rome, which culminated with a treaty with Carthage which led to the First Macedonian War. The first war ended in a stalemate and the Peace of Phoinike, which allowed Philip to keep his newly acquired land from his campaigns against the Aetolians, Rome's ally. Between 205 and 201/200 BC Philip used the peace to reorganize his army recruitment system and introduce new strict disciplinary codes for the army.

Peace did not last and an alliance with Antiochus III of the Seleucid Empire, which allowed Philip to campaign in Asia Minor, led to an alliance of Pergamon, Athens and Rhodes who appealed to Rome for help. By 199 BC, the Romans had inflicted some minor defeats on the Macedonians and had also recruited the Aetolian and Achaean Leagues to their side. An army under Titus Quinctius Flamininus was sent to Greece and campaigned against Philip V in 198 BC in the Aous Valley, which Philip defended by using carefully placed artillery and missile troops, leading to many Roman casualties. Using a flanking maneuver, Flaminius managed to dislodge Philip and chase him into Thessaly, where in 197 BC the two sides met at the Battle of Cynoscephalae. Here, Philip was decisively beaten, with 8,000 of his men killed and 5,000 taken prisoner, about half of his entire army.