The invention discloses a millimeter wave circularly polarized planar slot array antenna. The antenna comprises an antenna radiation layer, an antenna coupling layer, an antenna feed layer and an antenna receiving layer which are superposed together from top to bottom. The antenna radiation layer comprises multiple antenna units, each antenna unit is composed of a horn unit, a radiation slot and a radiation matching block, and one horn unit forms one horn subarray; the antenna feed layer comprises a feed slot, a feed waveguide and a feed matching block, and the feed slot, the feed waveguide and the feed matching block form a feed network together; and the antenna units of the antenna radiation layer have no polarization cover, and the horn subarrays are used for realizing the circularly polarized radiation. The millimeter wave circularly polarized planar slot array antenna has no polarization cover, and has the circularly polarized property, high gain property and perfect difference beam coverage performance; the coverage rate of the difference beam pairs and the beams is up to 100%; and compared with the prior art, the millimeter wave circularly polarized planar slot array antenna has the advantages that the difficulty in the electric fitting technology is reduced, the consistency of production is improved greatly, the workload of debugging in the later stage is avoided, the environmental suitability of the antenna is enhanced, and the production cost is lowered.