This work presents a V-band iris filter, based on recently introduced groove gap waveguide technology. In this technology, it doesn't need to have electrical contact between two constituting metallic surfaces, as it is needed in conventional hollow waveguides. Therefore, it is cheaper to manufacture gap waveguide components, in particular in millimeter wave frequency range. In this work, square shape groove gap waveguide cavities are used as filter resonators. To realize the input/output coupling and also inter cavity coupling, two larger pins are used to act as an iris. A fifth order bandpass Chebyshev filter is designed with 1 GHz bandwidth at 59.5 GHz center frequency and a prototype is manufactured to validate the simulation results. Design process, simulated results, and measured results are presented here.