A 2.051-µm laser source delivering picosecond pulses with energies as high as 34 mJ at a 1 kHz repetition rate is reported. The main amplifier system is based on Ho:YLF and consists of a regenerative amplifier (RA) and a single-pass booster amplifier running at room temperature. The continuous-wave pumped, high-gain RA produces pulse trains with up to 10-mJ energy when operating in a stable periodic doubling regime. The recorded complete RA bifurcation diagram agrees well with our numerical simulations. At the highest pulse energy after the booster amplifier the pulse-to-pulse fluctuations are as low as 0.9% rms. Pulse compression is performed up to the 10-mJ level resulting in a duration of 37 ps.