In this paper, we design a high-precision tunable terahertz filter by using transfer matrix method. The filter structure mainly consists of graphene embedded photonic crystals (GPCs). The front part of the GPCs contain artificial synthetic material and air layer, the back part of the GPCs is composed by and periodic stack of isotropic dielectric slabs (MgF2) embedded with graphene sheets, where air defect layer is located in the middle of the GPC as a central layer. Our simulation reveals that graphene layer and air defective layer strongly affect the filter performance. Additionally, the influence of incidence angle of terahertz wave, thickness of air layer, the unit number of front periodic structure and chemical potential of the graphene sheets can also modulate the function of the filter. And the filter has strong stability when the temperature changes from 150K to 350K.The results indicate that single channel, dual and multiple channels filter in a narrow frequency can be obtained by optimizing the structure parameter.