In honeybees, the antennae are highly mobile sensory organs that express scanning movements in various behavioral contexts and toward many stimuli, especially odorants. The rules underlying these movements are still unclear. Using a motion-capture system, we analyzed bees’ antennal responses to a panel of pheromonal and other biologically relevant odorants. We observed clear differences in bees’ antennal responses, with opposite movements to stimuli related to opposite contexts: slow backward movements were expressed in response to alarm pheromones, while fast forward movements were elicited by food related cues as well as brood and queen related pheromones. These responses are reproducible, as a similar pattern of odor-specific responses was observed in bees from different colonies, on different years. We then tested whether odorants’ attractiveness for bees, measured using an original olfactory orientation setup, may predict antenna movements. This simple measure of odorants’ valence did however not correlate with either antennal position or velocity measures, showing that more complex rules than simple hedonics underlie bees’ antennal responses to odorants. Lastly, we show that newly-emerged bees express only limited antennal responses compared to older bees, suggesting that a significant part of the observed responses are acquired during bees’ behavioral development.