In this study, a broadband and high gain dielectric-rod end-fire antenna are proposed for applications on both the K and Ka bands. By employing the double-ridged waveguide (DRW) feeding structure which is composed of a coaxial line to tapered DRW transition, a parabolic tapered DRW, and a parabolic-tapered flared parallel waveguide section, the impedance bandwidth of this proposed antenna is broadened to 84.5%. The dielectric-rod with the double circular truncated cone structure acted as the main radiator of the proposed antenna is adopted to achieve higher gains and lower side-lobe levels as compared to the traditional circular cone dielectric-rod, while the four-wedges structure inserted in the waveguide is developed as the matching section of the dielectric-rod to further improve the impedance matching. The measured results show that this antenna can be operated in 17.9-44.1 GHz, and the measured gain changes from 9.9 to 15.5 dBi. Moreover, the radiation patterns are demonstrated with observed end-fire characteristic in the overall operating band.