In this paper, a compact quasi-Yagi antenna with embedded resistor-loaded arms is proposed to obtain a filtering response with four radiation nulls. The embedded resistor-loaded arms achieve two additional radiation nulls caused by reverse currents and absorb the unwanted out-of-band resonant points brought by themselves. The director close to the driver provides a resonant point and a radiation null caused by opposite currents between the driver and the director. Compared with other filtering quasi-Yagi antennas, the proposed one can achieve a filtering response with a compact size along the endfire direction. For demonstration, a balun-integrated prototype covering the 5G band N78 (3.3–3.8 GHz) is designed with the size along the endfire direction (without ground) of 0.13 λ0 (λ0 is the wavelength in the free space at center frequency), and the measured results show a 10 dB impedance-matching bandwidth of 22.9% (3.21–4.04 GHz), four radiation nulls, and a peak gain of 4.73 dBi.