Diaphorina citri Kuwayama is the most economically important citrus pest which is the primary vector of Candidatus Liberibacter spp. causing citrus greening (huanglongbing, HLB) disease. To better understand the developmental and structural changes of antennae and antennal sensilla in D. citri nymphs, we investigated the antennal morphology, structure and sensilla distribution of the five nymphal stages of D. citri using scanning electron microscopy. The antennae of the five different nymphal stages of D. citri were filiform in shape, which consisted of two segments in the first-, second- and third-instar nymphs; three segments in the fourth- and fifth-instar nymphs. The length of their antennae was significantly increased with the increase of the nymphal instar, as well as the total number of antennal sensilla. Ten morphological sensilla types were recorded altogether. They were the long terminal hair (TH1), short terminal hair (TH2), sensilla trichoidea (ST), cavity sensillum 1 (CvS1), cavity sensillum 2 (CvS2), sensilla basiconica 1–3 (SB1-3), sensilla campaniform (SCA) and partitioned sensory organ (PSO). Also, the distribution of antennal sensilla in each nymphal stage of D. citri was asymmetrical. The SBs only occurred on the antennae of the third-, fourth- and fifth-instar nymphs. Only one CvS2 was found in the third- and fifth-instar nymphs, and one SCA in the fourth- and fifth-instar nymphs, respectively. The possible roles of the nymphal antennal sensilla in D. citri were discussed. The results could contribute to a better understanding of the development of the sensory system, and facilitate future studies on the antennal functions in D. citri nymphs.