Simple practical design method is proposed for the waffle-iron waveguide filter. The design procedure comprises two steps. The first step is to calculate the K-inverter based on the transformed ABCD parameter from the S parameter for the single window of waffle-iron structure by use of EM S/W tool. The second step is to optimize the size of the windows such that the calculated K inverters may be in accord with the distributed constant prototype filter. In order to validate the design method, a waffle-iron filter for satellite communications over the Ka band is designed and fabricated. The measured results are in good agreement with the calculated ones.