The invention discloses an SIW-based dual-frequency slot array antenna. The SIW-based dual-frequency slot array antenna comprises a dual-layer dielectric substrate, wherein a printed metal feeder is arranged on an upper surface of an upper-layer dielectric plate, a feeding slot, a low-frequency radiation slot and a high-frequency radiation slot are etched on an upper surface of a lower-layer dielectric substrate after copper coating, a lower surface is coated with copper, metal via holes are processed in four edges of the lower-layer dielectric plate, the two layers of dielectric plates are assembled and overlapped, the lower-layer dielectric substrate and metal on the upper surface and the lower surface thereof can form an SIW cavity, energy enters the SIW cavity at a lower layer from theprinted metal feeder at an upper layer via the feeding slot, a TE20 mode is formed, radiation of different frequency bands is achieved, low-frequency radiation arrays are arranged at two sides of a central axis of the antenna, a high-frequency radiation array is arranged on the central axis, and the design of the dual-frequency antenna and a relatively good directional diagram radiation effect are achieved. The SIW-based dual-frequency slot array antenna can be simultaneously applied to a microwave band and a millimeter wave band, is high in gain, wide in bandwidth, small in loss and low in profile and is easy to process.