Yagi-Uda UHF RFID(Radio Frequency Identification) tag antennas with long reading range have been designed. According to ISO-18000, EIRP(Effective Isotropic Radiation Power) of reader and reader antenna is limited as 36 dBm. Therefore, the gain of a tag antenna should be high enough to extend the reading range. Yagi-Uda antenna has been applied to a UHF RFID tag antenna, and high gain and long reading range have been achieved. Three different of Yagi-Uda UHF antennas have been optimized to achieve the small size with low back-lobe patterns. The sizes, reading ranges and return loss of Yagi-Uda tag antennas are compared and measured.