The ultra-wideband (UWB) spectrum available for commercial applications has offered us an opportunity to achieve high-speed wireless communications and high-accuracy location applications. As one of key research areas in UWB technology, a lot of innovative broadband and miniaturization techniques for UWB antennas have been greatly invented and developed for years. This paper reviews the development of UWB antenna design in the past decade. Starting with a brief introduction of the specific requirements and promising applications of UWB systems, the unique design challenges of UWB antennas are highlighted. Next, the important milestones of UWB antenna designs are briefed. After that, a variety of planar UWB antennas invented for broadband operation, miniaturization, and multiple functions are introduced. Last, the comments on the development of UWB antennas in future are shared.