In modern wireless communication systems, antennas play a crucial role as they are fundamental to enable efficient radio signal transmission in wireless communication systems. Additive Manufacturing (AM), commonly known as three-dimensional (3D) printing, is revolutionising this field by providing a range of techniques and materials allowing the production of more versatile and cost-effective antenna solutions. AM enables the creation of complex geometries that enhance performance of antennas, while supporting fast prototyping, allowing to quickly iterate designs based on testing and performance feedback. Thus, 3D printing emerges as a promising solution to address the high costs and delivery times associated with conventional antenna fabrication, but also the possibility of exploring novel design forms or methods. This paper presents a comprehensive review that explores advancements in the design, fabrication and performance evaluation of 3D printed antennas, across different frequency ranges. The review highlights the use of different printing methods, materials and structures, to achieve specific antenna characteristics and designs, such as wide bandwidth, high gain, circular polarisation, and beamforming capabilities. The findings showcase the significant potential of 3D printing in the development of antennas for wireless communications, terahertz frequencies, transmitarray, and multi-beam systems. Various printing techniques are employed to fabricate antennas with complex geometries and optimised performance. This review emphasises the contributions of 3D printing in antenna engineering, offering customisation capabilities, rapid prototyping, and improved performance.