We demonstrate an all polarization-maintaining (PM) fiber based dual-wavelength mode-locked Er-fiber laser. A nonlinear amplifying loop mirror (NALM) with an intracavity nonreciprocal phase shifter is used for self-started mode-locking. A short segment of PM fiber is angle-spliced to the NALM, functioning as a PM Sagnac loop filter, thus enabling dual-wavelength mode-locking. The wavelength separation is solely determined by the angle-spliced PM fiber length. Stable dual-wavelength mode-locking operation is switchable between 1570/1581 nm and 1581/1594 nm. The two-color pulse trains oscillating in the same cavity have an inherent offset repetition rate of ~1 kHz owing to cavity dispersion, allowing future high precision dual-comb applications with a simple and robust configuration.