We derive the threshold pump intensity for a singly resonant intracavity optical parametric oscillator (IOPO) based on a temporal coupled field model. Particular attention is paid to the dependence of the intracavity singly resonant OPO (SRO) threshold intensity on the signal wave output coupling. Meanwhile, a Nd:YAG laser pumped KTiOPO4 (KTP) IOPO for eye-safe laser output is studied experimentally. The experiment is performed with four signal wave output reflectivities of 60%, 70%, 80%, and 90%, respectively. The measured values are in good agreement with the theoretical results. With an output coupler reflectivity of 80%, a peak power of 70 kW at 1572 nm has been obtained at a repetition rate of 3.5 kHz. The pulse width is 4.9 ns. Such investigation is helpful to identifying suitable operational regime of low pump intensity.