We reported an intra-cavity pumped Q-switched laser with dual-wavelength synchronous output at 2066.7 nm and 1940nm. Ho:YLF crystal was pumped by a self-Q-switched Tm:YAP laser, which was served as both a gain medium and a saturable absorber simultaneously. For Ho:YLF laser, under 11.4-W incident pump power, a stable pulse laser was achieved at 2066.7 nm with the highest peak power of 69.65 W and the pulse repetition rate of 42.14 kHz. Under the same incident pump power, the highest peak power and pulse repetition rate of Tm:YAP laser were 17.85 W and 50.82 kHz, corresponding to the central wavelength of 1940nm. These results suggested that Q-switching without additional absorber element were effective way to obtain high-efficiency and compact 2.1 µm pulsed laser.