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The title gap blew out to 62 points with three rounds remaining and 86 points still to be won.
Formula One leader Max Verstappen was twice penalised for clashes with title rival Lando Norris and finished sixth.
Verstappen's podium finish left him 57 points clear with five rounds remaining.
Toyota Gazoo Racing will become Haas' official technical partner with both parties sharing expertise, knowledge and resources.
Hamilton, who has been racing competitively since he was six, said he has also battled with depression as an adult, and has found it difficult to open up about his journey.
Italian Antonelli, who has won one sprint and one feature race for Prema Racing in Formula Two this year, will join George Russell at Mercedes, with Hamilton switching to Ferrari.
The British team announced on Tuesday that Argentine F2 driver Franco Colapinto would replace Logan Sargeant for the remaining nine races of the season, starting with Sunday's Italian Grand Prix at Monza.
It was the first time since the race returned to the calendar in 2021 that Verstappen had not triumphed at Zandvoort and extended his losing streak this season to five races.
The 23-year-old, who has yet to score a point this year and has already lost his seat for 2025, was taken to the medical centre for precautionary checks.
The two have been together through Hamilton's 12 years at Mercedes and their radio exchanges have become part of the language of the sport for a global television audience.
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