W-band filters play a crucial role in modern millimeter-wave communication and radar systems, finding applications in 5G/6G networks, automotive radar, and passive imaging. With the growing demand for higher data rates and efficient wireless communication, W-band filter development has gained significant attention in recent years. Various design techniques and fabrication technologies have been explored for improved performance and integration possibilities. This paper presents a planar substrate-integrated waveguide (SIW) dual-mode cavity filter as a solution to the challenges faced by previous designs in terms of integration, size, and cost. The dual-mode cavity coupling principle and design parameters are analyzed to optimize the filter’s performance. A W-band 4th-order dual-mode filter prototype is designed and fabricated on a 0.127-mm-thick RO5880 substrate, and a finline waveguide-to-microstrip transition structure is employed for compatibility with the test instrument. Simulation and experimental results demonstrate that the proposed filter exhibits low insertion loss, good in-band standing wave performance, and improved out-of-band suppression. Moreover, a visible high-frequency out-of-band transmission zero is implemented to enhance the steep roll-off characteristics in the high-frequency out-of-band region.