We demonstrate the generation of both continuous-wave (CW) and Q-switched cylindrical vector beams (CVBs) from a mid-infrared Er3+-doped ZBLAN (Er:ZBLAN) fiber laser at ∼ 2.8 µm. A customized S-waveplate is incorporated as the intracavity mode converter to achieve the mid-infrared CVBs. Switchable modes of CVBs between the radially and azimuthally polarized beam can be realized easily by manipulating the cavity conditions. A maximum output power of ∼250 mW is achieved for the CW CVBs. In the short-pulsed CVBs operation regime, both the active and passive Q-switching modes are realized with a pulse duration of hundreds of nanoseconds. The proposed mid-infrared cylindrical vector lasers can have significant potential for applications in biomedicine, optical trapping, material processing and optical communication.