Now-a-days, far-field wireless power transfer/energy harvesting is underutilized due to the unavailability of proper methodology to design efficient system for maximum radio frequency (RF) power utilization. For efficient utilization of far-field RF energy an array/grid of rectenna, i.e. rectenna panel is required to generate the power from wireless signal. To minimize the engineering design phase period (design trials), this paper mathematically derives and summarizes the approach required for optimum rectenna panel design based on power available in the environment, RF transmit source capability, receiver power requirement and the design cost. For maximum power interception through a rectenna panel, its design parameters such as -panel size, number of rectenna, rectenna arrangement pattern, and rectenna spacing has been optimized in our work. Based on the optimization required, we have proposed the compact grid pattern with heterogeneous rectenna spacing. It has been proved theoretically in this paper that if a hexagonal shape panel is designed by placement of rectenna at vertices of equilateral triangle (with side length governed by antenna aperture) then, it is capable of intercepting maximum RF energy available at its location with the least number of rectenna.