Resonant graphene antennas used as true interfaces between terahertz (THz) space waves and a source/detector are presented. It is shown that in addition to the high miniaturization related to the plasmonic nature of the resonance, graphene-based THz antenna favorably compare with typical metal implementations in terms of return loss and radiation efficiency. Graphene antennas will contribute to the development of miniature, efficient, and potentially transparent all-graphene THz transceivers for emerging communication and sensing application. (C) 2012 American Institute of Physics. [http://dx.doi.org/10.1063/1.4768840]