We demonstrate effective control on the carrier-envelope phase and angular distribution as well as the 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 both the 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 generation in a femtosecond laser filament and suggest a practical way to control the electric field of a terahertz pulse for potential applications.