Based on the design of inverted-F antenna (IFA), a scheme of printed IFA (PIFA) with a bent end is presented to realize quasi-isotropic radiation in $4\pi$ full-space. The traditional ground plane is transformed into a printed strip structure, and the antenna is fed with CPW. Simulation results show that the presented antenna has relative bandwidth of 2% (@605 MHz) where its VSWR is lower than 2. The nonuniformity of the antenna is 3 dB in $4\pi$ full-space and the gain is −1.39 dBi. Because of its small size, low profile and light weight, the presented antenna has great potential to be used in mobile communication terminals.