A depth image filtering method, and a filtering threshold obtaining method and apparatus are provided. The method in the embodiments of the present invention includes: determining, for each pixel in an adjacent area of a pixel of a to-be-filtered depth image, whether the pixel meets a preset condition; determining a set of pixels meeting the preset condition; and determining a pixel value of the pixel of the to-be-filtered depth image according to pixel values of the pixels in the set. According to the embodiments of the present invention, a ringing effect at an edge of a depth image is effectively removed, and discontinuity of the depth image is reduced, thereby improving quality of a video image.