The conventional monopulse comparator, which commonly consists of a power divider, a standard 3dB-coupler and a 90-degree phase shifter, occupies a significantly large area of the antenna aperture. This results in a low efficiency. In order to improve the antenna's aperture efficiency and keep a planar single-layer structure simultaneously, a substrate integrated waveguide (SIW) slots array monopulse antenna excited only by a square dual-mode (TE 120 and TE 210) SIW resonator is proposed, fabricated and measured in this communication. The sum and difference beams are obtained when the feeding cavity operates at two high-order modes, respectively. The needless of complex feeding network reduces the antenna's structure complexity and improves its aperture efficiency. The aperture efficiency of the antenna can reach 42%. Besides, the sum and difference ports have good isolation due to the orthogonality between the two modes. The proposed antenna obtains a 100 MHz impedance bandwidth, determined by the reflection coefficient less than −10 dB. The measured gain of the sum pattern is 11.9 dBi at 10 GHz, while the null depth of the difference pattern is lower than −27 dB. INDEX TERMS Monopulse antenna, substrate integrated waveguide (SIW), aperture efficiency, dual-mode resonant cavity.