This paper presents the design and comprehensive measurements of a compact high-gain 32 element planar antenna array covering the n257 (26.5-29.5 GHz) millimeter wave (mmWave) band. First an 8-element quasi-uniform linear array is designed using a series-fed topology with fan shaped beams for point-to-multipoint connectivity followed by a compact corporate series feed network to design high-gain directive array for point-to-point connectivity. The radiation patterns of both antenna arrays in the azimuth and elevation planes are measured across a 180 degrees span using an over-the-air (OTA) compact antenna test range (CATR) system with a single rotary positioner. Moreover the procedure for quantifying and measuring the gain of mmWave antenna arrays is demonstrated in detail. The peak measured gain of the planar array is 18.45 dBi at 28.5 GHz while the half-power beamwidth of the planar array in the elevation and azimuth planes varies between 11 to 13 degrees, and 23-27 degrees respectively within the 26.5-29.5 GHz range. The measurement results match well with the simulations. The designed antenna array is suitable for various emerging 5G and beyond mmWave applications such as fixed wireless access, mmWave near-field focusing, high-resolution radar systems, and the characterization of mmWave path loss and channel sounding in diverse indoor environments and smart factories.