3D ED is an effective technique to determine the structures of submicron- or nano-sized crystals. In this paper, we implemented energy-filtered 3D ED using a Gatan Energy Filter (GIF) in both selected area electron diffraction mode and micro/nanoprobe mode. We explained the setup in detail, which improves the accessibility of energy-filtered 3D ED experiments as more electron microscopes are equipped with a GIF than an in-column filter. We also proposed a crystal tracking method in STEM mode using live HAADF image stream. This method enables us to collect energy-filtered 3D ED datasets in STEM mode with a larger tilt range without foregoing any frames. In order to compare the differences between energy-filtered 3D ED and normal 3D ED data, three crystalline samples have been studied in detail. We observed that the final R1 will improve 20% to 30% for energy-filtered datasets compared with unfiltered datasets and the structure became more reasonable. We also discussed the possible reasons that lead to the improvement.