This paper presents a 4-element conformal phased array antenna with beam steering capabilities designed for mounting on unmanned aerial vehicles (UAVs) for X-band applications. The antenna integrates a T-junction power divider to achieve electronically steered beams and reduce side lobe levels. The design features a 1×4 array with optimized parameters, “S”-shaped structures for beam steering, and tapered lines for impedance matching that transition logarithmically from 100Ω to 50Ω to ensure effective signal transmission. The proposed array antenna has a size of 70 mm × 50 mm and a thickness of 1.57 mm. Consequently, the array antenna achieves a reflection coefficient of -30.91 dB with a bandwidth of approximately 250 MHz, centered at 10.3 GHz, and a gain of 10.28 dBi, oriented at 𝜃 = 0°. In addition, for surface compatibility analysis, the phased array antenna is bent on a cylinder with a radius of 133 mm for analysis and measurements. The experimental results confirm the antenna’s suitability for X-band UAV applications.