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Liquid-phase exfoliated graphene sheets are promising candidates for printing electronics. Here, a high-performance printed 2.4 GHz graphene-based antenna is reported. Graphene conductive ink prepared by using liquid-phase exfoliation process is printed onto a water-transferable paper by using blade printing technique, which is then patterned as dipole antenna and transferred onto a target substrate. The fabricated dipole antenna (43 × 3 mm), exhibiting typical radiation patterns of an ideal dipole antenna, achieves −10 dB bandwidth of 8.9% and a maximum gain of 0.7 dBi. The printed graphene-antennas satisfy the application requirements of the Internet of Things and suggest its feasibility of replacing conventional metallic antennas in those applications.