This paper proposes an air-filled substrate integrated waveguide (AFSIW) bandpass filter with a miniaturized non-resonant node (NRN). The NRN structure is introduced between the three resonators, and its size is smaller than the resonator size, which can realize the NRN structure’s miniaturization and reduce the model’s size. The NRN size of this filter is 41% of the NRN size of the existing AFSIW filter. This filter also introduces a transmission zero (TZ) above the passband. The measured results show that the filter’s center frequency is 20.73 GHz, and the bandwidth is 0.86 GHz. The insertion loss in the passband is 0.95 dB, and the return loss is better than 23 dB. Due to the TZ in the upper stopband, the AFSIW filter obtained good selectivity.