A radio communication system for performing radio communication between a first antenna and a second antenna is provided. Each of the first and second antennas includes a plurality of antenna elements for forming polarization planes orthogonal to each other in three-axial directions. The first and second antennas are arranged so that the polarization planes formed by the antenna elements of the first antenna are respectively opposed to the polarization planes formed by the antenna elements of the second antenna. The communication between the first antenna and the second antenna is performed by using three independent polarized waves.