The contribution of this study is to develop a miniaturised substrate integrated waveguide (SIW) cavity resonator with two evanescent-mode resonances. The circuit area of the developed dual-frequency SIW cavity is only 9.2% that of its conventional SIW cavity counterpart. A dual-band filter is implemented from using two miniaturised SIW cavity resonators. The two-passband frequencies can be independently controlled. Two transmission zeros are created by the two sides of each passband for enhancing the signal selectivity. A diplexer is also designed from using the proposed SIW cavities. A dual-band filter and a diplexer are built for experimental verification. Agreements between measured and simulated data are observed. To the best of the authors' knowledge, the designed dual-band filter and diplexer have achieved the best circuit area efficiency in the categories of dual-band SIW cavity filters and diplexers.