This Letter describes an intracavity pumped optical parametric oscillator (OPO) based on noncritical phase matching RbTiOPO4 (RTP) crystal driven by a laser diode end-pumping acousto-optic Q-switched Nd:YVO4 laser. Simultaneous efficient signal light at 1.6 μm and idler light at 3.1 μm outputs were obtained. At an incident pump power of 10.5 W and a Q-switching pulse repetition frequency of 60 kHz, 1.42 W at center wavelength of about 1619 nm and 0.38 W at 3108 nm were achieved, with the diode to OPO total output conversion efficiency up to 17.1%. The pulse width is about 6.5 ns for the signal light corresponding to the fundamental light at 1064 nm of about 10 ns. The spectral widths of the signal and idler light are narrower than 0.5 and 1.0 nm. The result shows that the RTP crystal is an efficient crystal to generate eye-safe and mid-infrared lights by making full use of noncritical phase matching.