Radio-loud high-redshift quasars (HRQs), although only a few of them are known to date, are crucial for studies of the growth of supermassive black holes (SMBHs) and the evolution of active galactic nuclei at early cosmological epochs. Radio jets offer direct evidence of SMBHs, and their radio structures can be studied with the highest angular resolution using very long baseline interferometry (VLBI). Here we report on the observations of three HRQs (J0131−0321, J0906+6930 and J1026+2542) at z > 5 using the Korean VLBI Network and VLBI Exploration of Radio Astrometry Arrays (together known as KaVA) with the purpose of studying their pc-scale jet properties. The observations were carried out at 22 and 43 GHz in 2016 January among the first-batch open-use experiments of KaVA. The quasar J0906+6930 was detected at 22 GHz but not at 43 GHz. The other two sources were not detected and upper limits to their compact radio emission are given. Archival VLBI imaging data and the single-dish 15-GHz monitoring light curve of J0906+6930 were also acquired as complementary information. J0906+6930 shows a moderate-level variability at 15 GHz. The radio image is characterized by a core–jet structure with a total detectable size of ∼5 pc in projection. The brightness temperature, ≳1.9 × 1011 K, indicates relativistic beaming of the jet. The radio properties of J0906+6930 are consistent with a blazar. Follow-up VLBI observations will be helpful for determining its structural variation.