To reproduce: please run the attached sample project and follow the steps in the attached sample gif file.

Workaround: instead of filtering the nodes, you can manipulate the RadTreeNode.Visible property considering the filter criteria and whether the node contains a child that matches the filter. 
        public RadForm1()
        {
            InitializeComponent();

            this.radTreeView1.ShowLines = true; 
        }

        private void FilterNode(RadTreeNode node)
        {
            bool atLeastOneChildMatches = false;
            ChildNodeContains(this.radTextBox1.Text.ToLower(), node.Nodes, ref atLeastOneChildMatches);
            if (node.Text.ToLower().Contains(this.radTextBox1.Text.ToLower()) || atLeastOneChildMatches)
            {
                node.Visible = true;
            }
            else
            {
                node.Visible = false;
            }
        }

        private void ChildNodeContains(string filterCritria, RadTreeNodeCollection nodes, ref bool atLeastOneChildMatches)
        {
            foreach (RadTreeNode node in nodes)
            {
                if (node.Text.ToLower().Contains(filterCritria))
                {
                    atLeastOneChildMatches = true;
                    return;
                }
                if (atLeastOneChildMatches == false && node.Nodes.Count > 0)
                {
                    ChildNodeContains(filterCritria, node.Nodes, ref atLeastOneChildMatches);
                }
            }
        }

        private void radTextBox1_TextChanged(object sender, EventArgs e)
        {
            PerformFilter(this.radTreeView1.Nodes);
        }

        private void PerformFilter(RadTreeNodeCollection nodes)
        {
            foreach (RadTreeNode node in nodes)
            {
                FilterNode(node);
                if (node.Nodes.Count > 0)
                {
                    PerformFilter(node.Nodes);
                }
            }
        }