We propose a new configuration for phased array antennas. The proposal uses radiation pattern reconfigurable antennas as the antenna element to improve the gain on the scanning angle and to suppress the grating lobes of sparse phased array antennas. This configuration can reduce the element number because the desired gain of the total array can be achieved by using fewer elements. We demonstrate the concept by designing a radiation pattern reconfigurable Yagi-Uda antenna. PIN diode switches are added to the parasitic elements to change director and reflector. The switches of multiple array elements are concurrently controlled by just a single one-pair line. This control structure is simple and can be applied to large-scale arrays. The proposed antenna yields an element gain that almost matches the theoretical limit across about half the coverage, even if the element spacing is enlarged to 1λ. If the switch states are interchanged, the gain in the mirror direction can be increased. We design a 48-element array and compare its gain against those of normal dipole antennas. We also fabricate the proposed antenna and demonstrate radiation pattern switching.