We demonstrate an efficient continuous-wave (CW) and Q-switched Tm:LuYAG laser that was resonantly pumped by an Er:LuYAG laser. The maximum CW output power was 3.12 W, and the corresponding slope efficiency relative to the incident pump power was 51.4%. In the Q-switched mode, a stable laser pulse was achieved from 1 to 10 kHz repetition frequency under the maximum incident pump power of 7 W. The narrowest pulse width of 94 ns with a pulse energy of 2.12 mJ was obtained at 1 kHz, resulting in the highest single pulse peak power of 22.5 kW. The Tm:LuYAG laser was centered at 2018.37 nm with a high-beam quality M² < 1.2.