In this paper, a planar comb-shaped antenna array for terahertz sensing based on the excitation of spoof surface plasmon modes is proposed. The structure is constructed by an array of three periodic rectangular grooves perforated through metal stripes on top of a silicon substrate. The effective detection of lactose is given as an example to demonstrate the ability of this structure to enhance detection sensitivity. In transmission mode, the sensing signal of lactose using the antenna array was 7.6 times larger than that of using a silicon substrate. In reflection mode, the sensing signal of lactose increased almost 13 times using our proposed antenna array compared to that of using a silicon substrate, exhibiting high sensitivity in terahertz sensing. Further, lactose thickness could be predicted based on the reflectance at the peak using our proposed structure. Our results indicate that the proposed structure has great potentiality in the field of biological and chemical sensing.