In this paper, a co-planar waveguide(CPW)-fed zeroth-order resonant(ZOR) antenna with an improved radiation efficiency was built and tested. The unit cell of the proposed antenna consists of a series metal-insulator-metal(MIM) capacitor and a shorted shunt stub inductor. In order to reduce the antenna size and to achieve the high radiation efficiency two shorted shunt stub arms bent by 90 degree were connected to the ground plane through the via. The proposed antenna consisting of two unit cells has an open ended composite right/left-handed(CRLH) transmission line structure. As a result the dominantly radiating parts of the antenna comes from shunt stub arms and vertical vias. The total size of the fabricated zeroth-order resonant antenna is $0.22;{lambda}_0{ imes}0.22;{lambda}_0$. The measured gain and efficiency of the fabricated antenna have been enhanced by 3.07 dBi and 75 %, respectively, at the zeroth-order resonant frequency of 2.97 GHz.