This paper presents a novel topology for the conception of millimeter-wave (60 GHz) cylindrical dielectric resonator antenna (DRA) compatible with LTCC (Low Temperature Co-Fired Ceramic) technology. The design process deals with the strategical modification of the shape of the resonator, in order to properly integrate its structure. This technique, compatible with the LTCC process, allows to avoid the use of glues, soldering substances or other mechanical parts which could disturb the antenna properties and to optimize the fabrication process. Moreover, the LTCC technology delivers an additional degree of freedom for the design, since it allows to build non canonical resonator shapes. The developed antenna covers the 57-63 GHz spectrum, being enabled for future 5G applications at the 60 GHz band. The design of the antenna is based on the Theory of Characteristic Modes analysis.