This paper presents a substrate-integrated waveguide (SIW) differential antenna for full duplex applications. The proposed antenna consists of two square SIW cavities named as outer and inner. The inner cavity is nested into the outer cavity. The outer cavity is differentially excited with a pair of coaxial feed lines, while the inner square patch is orthogonally excited with another pair of differential coaxial feed lines. This orthogonal feeding arrangement results in high isolation between the differential ports. The modified hybrid TE130/310 mode of the outer cavity radiates through a pair of arc-shaped slots at 9.35 GHz, while the TM01 mode of the inner square patch is responsible for the radiations at 8.65 GHz. The proposed antenna prototype is fabricated and measured for validation. Moreover, the designed antenna has a front-to-back ratio better than 22 dB and measured maximum gain values of 6.1 dBi and 7.6 dBi at 8.65 GHz (Port 2 ON) and 9.35 GHz (Port 1 ON), respectively.