An experimental study on the quasi-neutral beam extracted by a neutralizer-free gridded ion thruster prototype was presented. The prototype was designed using an inductively coupled plasma (ICP) source terminated by a double-grid accelerator. The beam characteristics were compared when the accelerator was radio-frequency (RF) biased and direct-current (DC) biased. An RF power supply was applied to the screen grid via a blocking capacitor for the RF acceleration, and a DC power supply was directly connected to the screen grid for the DC acceleration. Argon was used as the propellant gas. Furthermore, the characteristics of the plasma beam, such as the floating potential, the spatial distribution of ion flux, and the ion energy distribution function (IEDF) were measured by a four-grid retarding field energy analyzer. The floating potential results showed that the beam space charge is compensated in the case of RF acceleration without a neutralizer, which is similar to the case of classical DC acceleration with a neutralizer. The ion flux of RF acceleration is 1.17 times higher than that of DC acceleration under the same DC component voltage between the double-grid. Moreover, there are significant differences in the beam IEDFs for RF and DC acceleration. The IEDF of RF acceleration has a widened and multi-peaked profile, and the main peak moves toward the high-energy region with increasing the DC self-bias voltage. In addition, by comparing the IEDFs with RF acceleration frequencies of 3.9 MHz and 7.8 MHz, it is found that the IEDF has a more centered main peak and a narrower energy spread at a higher frequency.