In this work, we characterize the transmission properties of the focusing-laser-induced filament by using terahertz (THz) time domain spectroscopy. Significant resonance absorption of the THz wave is identified, which is attributed to the dynamic screening of the ionized electrons. The polarization and intensity of the filament-generated pulse have been varied to study their influences on the resonance absorption. Our results suggest that the electron density of the filament can be determined by fitting the phase shifts and absorption properties around the absorption. This method provides not only an alternative to the plasma diagnostics with plasma frequency at the THz range, but also a supplement to the existing generation theory of THz waves from plasma.