In this thesis, a novel System-on-Package (SoP) antenna concept has been developed for 24 GHz automotive radar applications. High-performance applications such as automotive radars require miniaturization, excellent performance and a high level of integration. The multi-layer Low-temperature co-fired ceramic (LTCC) SOP approach is an effective solution to meet these stringent needs as it offers not only great capability of integrating embedded functions, but also the real estate efficiency and cost-savings. The antenna concept utilizes a mixed LTCC tape system and combines for the first time a fractal antenna array and an integrated grooved Fresnel lens. The overall gain of the system is 15 dB which includes a 6 dB gain enhancement due to the integration of the lens. The bandwidth is 1.8 GHz which is 7.5% of the center frequency. The three types of dielectric Fresnel lenses (grooved, multi-dielectric and perforated) have been investigated as gain enhancement and beam shaping components for high performance LTCC SoP applications. A high dielectric constant material has been utilized to realize the lenses in the LTCC medium. All three lenses perform well with significant gain enhancement (>6 dB) and beam shaping despite their compact sizes (2.4 cm x 2.4 cm). The excellent performance makes all three lenses highly suitable for high performance SoP applications with the grooved lens being most suitable due to the relative ease of fabrication.