This paper studies the problem of designing digital finite duration impulse response (FIR) filters with prescribed flatness and peak error constraints using semidefinite programming (SDP). SDP is a powerful convex optimization method, where linear and convex quadratic inequality constraints can readily be incorporated. This property is utilized for the optimal minimax and least squares (LS) design of linear-phase and low-delay FIR filters with prescribed magnitude flatness and peak design error, which are formulated as a set of linear equality and convex quadratic inequality constraints, respectively. A method for structurally imposing these equality constraints in the SDP formulation is also proposed. Using these results, the design approach is further extended to the design of constrained complex coefficient FIR filters and variable digital filters (VDFs). Design examples are given to demonstrate the effectiveness of the approach.