Two-dimensional metallic photonic crystal slabs with square lattice are proposed to be used for the design of waveguide bandpass filters operating in millimeter to terahertz region. Filter characteristics are studied when rod radii and lattice constants are changed. Based on the frequency scaling technique, a series of higher frequency filters has been designed. By using laser drilling and welding processing techniques, a compact waveguide filter embedded in an EIA-WR10 waveguide with central frequency 145.5 GHz and 3-dB bandwidth of 5.26 GHz is fabricated and measured. The measurement data agree well with the simulation prediction.