Structural systems based on tension and compression play a significant role in maximizing the performance of materials. Among them, structures based on the concept of tensegrity have attracted attention owing to their elegant design features and floating feeling. However, the complex construction of tensegrity-based structures hinders their implementation in practical design and architectural applications. Herein, we propose a novel tensegrity-based unit with simple connectivity and manufacturability. The external form of this unit is similar to that of a space-filling polyhedron. The prototype of the proposed unit is constructed, and the simple tension management of the unit is demonstrated. The mechanical behavior of the assembled structure is investigated by performing loading tests and numerical analyses. The behavior can be accurately predicted and general design can be applied to develop structures for practical applications.