Microwave Kinetic Inductance Detectors (MKIDs) are becoming a very promising candidate for next generation imaging instruments for the far infrared. A MKID consists of a superconducting resonator coupled to a feed-line used for the readout. In the devices presented here radiation coupling is achieved by coupling the MKID directly to planar antenna. The antenna is placed in the focus of an elliptical lens to increase the filling factor and to match efficiently to fore-optics. In this paper we present the design and the optical performance of MKIDs optimized for operation at 350 GHz. We have measured a device consisting of 14 pixels, characterized the coupling efficiency, antenna-lens frequency response and beam pattern and compared these to theoretical simulations. The optical efficiency has been measured by means of a black body radiator mounted in an ADR cryostat, through the variation of the black body temperature a variable illumination of each pixel (from 0.1 fW to 2 pW) is achieved. The frequency response and beam pattern have been directly measured in a He3 cryostat directly via the cryostat window and without the use of intermediate optics.