Social wasps have a widespread Neotropical distribution and are important pollinators and biological control agents for pest insects. The foraging activity of wasps is influenced by biotic and abiotic factors that are detected by the antennal sensilla that vary according to species, sex, caste, and environmental conditions. This study compares the types and quantities of antennal sensilla with a scanning electron microscope between the nocturnal Apoica flavissima and the diurnal Polistes simillimus wasps. Six types of sensilla were found in the antennae of both species: placoid, coeloconic, basiconic-type 1, basiconic-type 2, trichoid-type 1, and trichoid-type 2. Sensilla chaetica were found only in the scape and pedicel of A. flavissima. In the nocturnal wasp, there are 19,132.27 ± 1,247.72 sensilla in the left and 17,746.46 ± 1,477.46 in the right antennae, whereas in the diurnal wasp 14,936.72 ± 1,271.69 in the left and 16,090.82 ± 1,345.3 in the right antennae. A. flavissima has a longer antennal length and number of sensilla than P. simillimus. The higher number of antennal sensilla in the nocturnal wasp is not linked with the antennal size. The association of antennal sensilla functions with ecological and behavioral factors of A. flavissima and P. simillimus are discussed.