Systems and techniques are provided for radio frequency (RF) beamforming using a plurality of differently skewed cylindrical lenses. In one example, an apparatus for wireless communication may include a plurality of cylindrical lenses, each respective cylindrical lens of the plurality of cylindrical lenses having a respective first surface and a respective second surface opposite to the respective first surface. Each respective cylindrical lens can include a power direction corresponding to a curvature of each respective first surface and a non-power direction that is orthogonal to the power direction. The apparatus can further include at least one linear antenna array disposed proximate to each respective second surface of each respective cylindrical lens, the at least one linear antenna array including a plurality of antenna array elements.