Efficient diode-pumped passively Q-switched Nd:YVO4 yellow and orange lasers are developed with the pulse pumping scheme and the intracavity stimulated Raman scattering (SRS) and second harmonic generation (SHG). A Np-cut KGW is exploited in the SRS process to generate the yellow 579 nm laser or the orange 589 nm laser in a selectable way. The high efficiency is achieved by designing a compact resonator to include a coupled cavity for intracavity SRS and SHG and to provide a focused beam waist on the saturable absorber for reaching an excellent passive Q-switching. The output pulse energy and peak power can reach 0.08 mJ and 50 kW for the orange laser at 589 nm. On the other hand, the output pulse energy and peak power can be up to 0.10 mJ and 80 kW for the yellow laser at 579 nm.