A novel low-profile two-arm backfire tapered cone helical antenna for telemetry tracking and command (TT&C) is introduced theoretically and experimentally in this paper. Compared with the conventional helical antenna, this design has a substantial decrease in its height and an increase both in its half power beamwidth (HPBW) and 3-dB axial ratio beamwidth by replacing the uniform structure with two tapered cone structures. It provides a maximum gain of 5.1 dBi, an excellent circular polarization radiation over a wide angular range of more than 124°, a 3-dB axial ratio bandwidth of 18.8%, a wide HPBW of more than 125°, and nearly equal E- and H- plane far-field patterns with high degree of axial symmetry over S-band (2–2.3 GHz). These excellent radiation characteristics with an endurable and compact structure make it an attractive candidate for TT&C application in microsatellite system, where the installation envelope and space for antenna are extremely limited.