In this paper, H-plane filtering-horn antenna operating at millimeter frequency band is proposed with embedded filter and three-layered dielectric lens for frequency selection and maintenance of main beam direction, respectively. The waveguide-typed filter and H-plane sectoral horn antenna are replaced with considerably size-reduced PCB substrate-typed filtering antenna using via fences and several posts. The waveguide-typed filter and H-plane sectoral horn antenna were designed in air-filled waveguide and then combined into size-reduced PCB substrate. For the control of the thickness of dielectric lens, single and multi dielectric lens have been employed. As a result of antenna gain, 8 and 13.5 dBi have been obtained at 41.5 GHz, respectively, from the simulations of single and multi-lens antennas.