In this Letter we report the realization of a femtosecond-laser-written diode-pumped Pr:LiLuF4 visible waveguide laser. The waveguide studied in this work consisted of a depressed-index cladding, whose design and fabrication were optimized to minimize the propagation loss. Laser emission has been achieved at 604 nm and 721 nm, with output power of 86 mW and 60 mW, respectively, and slope efficiencies of 16% and 14%. In addition, we obtained, for the first time in a praseodymium-based waveguide laser, stable continuous-wave laser operation at 698 nm (3 mW of output power and 0.46% of slope efficiency), corresponding to the wavelength necessary for the clock transition of the strontium-based atomic clock. The waveguide laser emission at this wavelength is mainly in the fundamental mode (i.e., the larger propagation constant mode) showing a nearly Gaussian intensity profile.