This disclosure provides systems, methods and apparatuses, including computer programs encoded on computer storage media, for ranging procedures performed using antenna switching. In one aspect, a device initiating a ranging procedure may transmit a ranging request, which may include antenna switching capabilities of the initiating device, a request for antenna switching by a responding device during the ranging procedure, or both. Ranging signaling may be communicated between the initiating device and the responding device using different transmit antennas, receive antennas, or both. In some implementations, ranging messages transmitted by the responding device may include transmit antenna indices used for transmission of different ranging messages, and receive antenna indices used for reception of different ranging response messages. The initiating device may estimate a range relative to the responding device based on round trip times (RTTs) associated with different antenna pairs used during the ranging procedure.