Nanoscale quantum emitters are key elements in quantum optics and sensing. However, efficient optical excitation and detection of such emitters involves large solid angles because their interaction with freely propagating light is omnidirectional. Here, we present unidirectional emission of a single emitter by coupling to a nanofabricated Yagi-Uda antenna. A quantum dot is placed in the near field of the antenna so that it drives the resonant feed element of the antenna. The resulting quantum-dot luminescence is strongly polarized and highly directed into a narrow forward angular cone. The directionality of the quantum dot can be controlled by tuning the antenna dimensions. Our results show the potential of optical antennas to communicate energy to, from, and between nano-emitters.