We demonstrate the generation of temporally clean few-cycle pulses at 2.1 μm by shortening of 6-optical-cycle pulses via cross-polarized wave (XPW) generation in BaF(2), CaF(2) and CVD-Diamond crystals. By combining spectra and single-shot third-order intensity cross-correlation traces in a novel Bayesian pulse retrieval technique, we measured pulse durations of 20 fs, corresponding to 2.8 optical cycles. Our results show that XPW generation in the infrared could provide a high-fidelity source of few-cycle pulses for strong-field physics applications. It could also serve as an injector for high-peak power ultrafast mid-IR wavelength parametric amplifiers.