A novel structure for a composite right/left-handed (CRLH) corrugated waveguide in the millimeter-wave band is proposed. The CRLH waveguide is composed of a rectangular waveguide with tilted corrugations on its bottom broad wall. By operating above and below the cutoff frequency of the dominant mode of the rectangular waveguide, the CRLH waveguide provides, respectively, an inherent series inductance and shunt capacitance, and an inherent shunt inductance. Moreover, the tilted corrugations provide a series inductance and a series capacitance, which can support CRLH propagation. A frequency-scanning antenna using this CRLH waveguide is also studied numerically and experimentally. The results demonstrate that the antenna can provide backward-to-forward beam scanning, including the broadside direction. A scanning angle from -9.9 to +2.2 is achieved within a 1.8-GHz frequency range in the 60-GHz band.