This paper presents a high-efficiency digital class-D audio amplifier using a composite interpolation filter for portable audio devices. The proposed audio amplifier is composed of an interpolation filter, a delta-sigma modulator, and a class-D output stage. To reduce power consumption, the designed interpolation filter has an optimized composite structure that uses a direct-form symmetric and Lagrange FIR filters. Compared to the filters with homogeneous structures, the hardware cost and complexity are reduced by about half by the optimization. The coefficients of the digital delta-sigma modulator are also optimized for low power consumption. The class-D output stage has gate driver circuits to reduce shoot-through current. The implemented class-D audio amplifier exhibited a high efficiency of 87.8 % with an output power of 57 mW at a load impedance of $16{Omega}$ and a power supply voltage of 1.8 V. An outstanding signal-to-noise ratio of 90 dB and a total harmonic distortion plus noise of 0.03 % are achieved for a single-tone input signal with a frequency of 1 kHz.