An electronic device may be provided with wireless circuitry. The wireless circuitry may include one or more antennas and transceiver circuitry such as centimeter and millimeter wave transceiver circuitry (e.g., circuitry that transmits and receives antennas signals at frequencies greater than 10 GHz). The antennas may be arranged in a phased antenna array. The phased antenna array may be formed on a dielectric substrate and may include one or more indirectly-fed microstrip dipole antennas. Conductive traces forming dipole antenna resonating elements or parasitic resonating elements for the dipole antennas in the phased antenna array may be embedded within or formed on an upper surface of the dielectric substrate. The phased antenna array may include both dipole antennas and patch antennas. Dipole antennas may be interposed between adjacent patch antennas or formed next to patch antennas.