  Dirac point in two-dimensional (2D) materials has been a fascinating subject
of research. Recently, it has been theoretically predicted that Dirac point may
also be stabilized in 2D magnetic systems. However, it remains a challenge to
identify concrete 2D materials which host such magnetic Dirac point. Here,
based on first-principles calculations and theoretical analysis, we propose a
stable 2D material, the monolayers TaCoTe$_2$, as an antiferromagnetic (AFM) 2D
Dirac material. We show that it has an AFM ground state with an out-of-plane
N\'{e}el vector. It hosts a pair of 2D AFM Dirac points on the Fermi level in
the absence of spin-orbit coupling (SOC). When the SOC is considered, a small
gap is opened at the original Dirac points. Meanwhile, another pair of Dirac
points appear on the Brillouin zone boundary below the Fermi level, which are
robust under SOC and have a type-II dispersion. Such a type-II AFM Dirac point
has not been observed before. We further show that the location of this Dirac
point as well as its dispersion type can be controlled by tuning the N\'{e}el
vector orientation.
