A novel high-selective triple-mode substrate integrated waveguide (SIW) bandpass filter using higher-order resonant modes is proposed in this Letter. The new triple-mode SIW resonator is realised by the second degenerate dual modes TM 210 and one perturbed higher-order mode TM 020 in a circular SIW cavity. The resonance of TM 020 mode can be independently moved to that of dual modes TM 210 by changing the size of a floating circular patch. The proposed triple-mode SIW filter can produce three finite-transmission zeros (FTZs), which can also be controlled well by the angle between two feeding lines. For the demonstration, a triple-mode SIW filter with the centre frequency of 13.5 GHz was designed, fabricated and measured. The proposed triple-mode circular SIW filter has the merits of the high-quality factor, high selectivity and controllable bandwidth as well as FTZs.