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In this work, we demonstrate that resonant full transmission of acoustic waves exists in subwavelength H-shaped metallic gratings, and transmission peaks can be efficiently tuned by adjusting the grating geometry. We investigate this phenomenon through both numerical simulations and theoretical calculations based on rigorous-coupled wave analysis. The transmission peaks are originated from Fabry-Perot resonances together with the couplings between the diffractive wave on the surface and the multiple guided modes in the slits. Moreover, the transmission modes can be efficiently tuned by adjusting the cavity geometry, without changing the grating thickness. The mechanism is analyzed based on an equivalent circuit model and verified by both the theoretical calculations and the numerical simulations. This research has potential application in acoustic-device miniaturization over a wide range of wavelengths.