We have demonstrated the effective control on carrier-envelope phase, angular distribution as well as peak intensity of a nearly single-cycle terahertz pulse emitted from a laser filament formed by two-color, the fundamental and the corresponding second harmonics, femtosecond laser pulses propagating in air. Experimentally, such control has been performed by varying the filament length and the initial phase difference between the two-color laser components. A linear-dipole-array model, including the descriptions of the both generation (via laser field ionization) and propagation of the emitted terahertz pulse, is proposed to present a quantitative interpretation of the observations. Our results contribute to the understanding of terahertz g...