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This article presents a 24-GHz highly integrated phased array radar transceiver with four transmitters (TXs) and four receivers (RXs). To realize a wide field of view (FoV) and more efficiently reject the clutters, an automatic beam steering mode is realized. A beam scanning generator (BSG) and a frequency sweep generator (FSG) are proposed to steer the beam for each frequency-modulated continuous wave (FMCW) waveform sequence. The shape of the FMCW waveform, the number of beams, and the steering angles of beams can be reconfigured by initially setting the FSG and BSG. The TXs achieve an output power of 10.6 dBm and beam steering covering angles up to ±50° through a three-stage power amplifier (PA), a 6-bit phase shifter, and a 4-bit attenuator. The RXs achieve a noise figure (NF) of 13.5 dB and an overall gain of 105 dB. In the RXs, a two-stage low-noise amplifier (LNA) employs a low- ${k}$ transformer for flat band gain. A range-compensation filter with a total 40-dB slope is realized using a trans-impedance amplifier (TIA) with DC offset cancellation (DCOC) and first-stage biquad bandpass filter (BPF). The proposed transceiver was fabricated using 65-nm CMOS with an area of $3\times2.8$ mm2.