Two-dimensional material has been widely used in the emerging ultrafast solid-state lasers due to its saturable absorption properties. However, its constant absorption state makes it difficult to regulate the laser output performance. In this paper, the plasma enhanced chemical vapor deposition method is used to prepare a few-layer graphene (Gr) film on a glass substrate and a Gr-saturable absorber (Gr-SA) device is prepared through processes such as inkjet printing, coating, and drying. Raman spectroscopy and spectrophotometer are used to perform systematic optical characterization and analysis of Gr-SA devices, and the nonlinear transmission characteristics of Gr-SA are measured by a balanced synchronous dual detector system. The results show that Gr-SA devices have voltage-controllable nonlinear absorption characteristics. The Gr-SA device is applied to the Nd∶?YVO4 all-solid-state laser system, which can achieve a stable Q-switched output with a wavelength of 1064.1 nm. Keeping the pumping optical power constant, the laser output with adjustable pulse width from 900 ns to 395 ns can be achieved by changing the gate voltage, and the corresponding repetition frequency can be increased from 62 kHz to 158 kHz.