In this paper, a novel multilayer substrate integrated dual-mode dielectric resonator (DR) filter is proposed. The square dual-mode DR is made of the high permittivity substrate by removing the undesired portions and the surface coppers so that the relatively high unloaded quality factor of the dominate TM11 pair can be obtained which compared to these fully dielectric-filled substrate integrated waveguides. Meanwhile, it can be easily integrated in an equivalent cavity implemented by multilayer printed circuit boards for filter design, showcasing low in-band loss, light weight, and compact size. For demonstration, a multilayer substrate integrated DR bandpass filter centered at X-band is designed and measured. Good agreement between the simulated and measured results can be observed, and the measured insertion loss at the passband center frequency (8.38 GHz) is 1.1 dB.