This work presents methods for miniaturizing and characterizing a modified dipole antenna dedicated to the implementation of wireless power transmission systems. The antenna size should respect the planar dimensions of 60 mm × 30 mm to be integrated with small IoT devices such as a Bluetooth Lower Energy Sensing Node. The provided design is based on a folded short-circuited dipole antenna, also named a T-match antenna. Faced with the difficulty of reducing the physical dimensions of the antenna, we propose a 3D configuration by adding vertical metallic arms on the edges of the antenna. The adopted 3D design has an overall size of 56 mm × 32 mm × 10 mm at 868 MHz. Three antenna-feeding techniques were evaluated to characterize this antenna. They consist of soldering a U.FL connector on the input port; vertically connecting a tapered balun to the antenna; and integrating a microstrip transition to the layer of the antenna. The experimental results of the selected feeding techniques show good agreements and the antenna has a maximum gain of +1.54 dBi in the elevation plane (E-plane). In addition, a final modification was operated to the designed antenna to have a more compact structure with a size of 40 mm × 30 mm × 10 mm at 868 MHz. Such modification reduces the radiation surface of the antenna and so the antenna gain and bandwidth. This antenna can achieve a maximum gain of +1.1 dBi in the E-plane. The two antennas proposed in this paper were then associated with a rectifier to perform energy harvesting for powering Bluetooth Low Energy wireless sensors. The measured RF-DC (radiofrequency to direct current) conversion efficiency is 73.88% (first design) and 60.21% (second design) with an illuminating power density of 3.1 µW/cm2 at 868 MHz with a 10 kΩ load resistor.