In depth map coding for 3D video coding systems, coding errors in edges can severely affect the synthesis quality. Edge errors mainly compose of two parts: one is blurring and ringing artifact around sharp edge and the other is fake edge caused by blocking artifact. In this paper, we propose an adaptive depth map filter to remove blocking artifacts while preserving depth edges. The proposed filter is designed based on bilateral filter, in which the range kernel parameter is changed adaptively considering the strength of edges and blocking artifacts. Experimental results demonstrate that the proposed depth map filter can achieve up to 0.41 dB gain on the synthesis quality compared to the deblocking filter in MVC at low bit rate.