I want collect and create a block containing headlines which only has "ID" property in the headlines.

i.e The headlines to be filtered looks like

* Headline 
   :PROPERTIES:
   :ID: my-id
   :END:

I am using the following code to configure the custom agenda command which does not work

(setq org-agenda-custom-commands
           '(("c" "MY Agenda"
          ((tags "ID")))))

I have read the org manual http://orgmode.org/manual/Matching-tags-and-properties.html#Matching-tags-and-properties but still unable to figure out how to do it.

• emacs
• org-mode

Your code as such is asking it to find all headlines that have a :ID: tag on the headline. To look for properties you have to use the property match feature which is listed a bit lower on the linked manual page.

Since I'm assuming you need it to match any ID and not just a specific ID you'll have to use the regexp matching by either matching (=) or not matching (<>) the regexp that follows in curly brackets.

To match your ID property you'll need the regexp to be ID={.+}. If you used .* as the match it would also match headlines without any ID property. If you have some a set of IDs you want to match that have something in common you can adjust the regexp to match them.

So your custom agenda command will have to be:

(setq org-agenda-custom-commands
           '(("c" "MY Agenda"
          ((tags "ID={.+}")))))