Cascaded mid-infrared (MIR) Er∶YAG pulsed lasers at room temperature are reported. The characteristic wavelength of the cascaded emission is experimentally observed to be 1469 nm, and that of the excited-state absorption is determined as 1676 nm. Er∶YAG crystals with doping concentrations (atomic number fractions) of 7.5% and 10% are adopted to compare the MIR output energy under the cascade and non-cascade conditions. For the Er∶YAG with a doping concentration of 7.5%, the maximum single pulse energy of MIR laser increases from 0.62 mJ (non-cascade) to 0.99 mJ (cascade), increasing by about 59.7%, and for Er∶YAG with a doping concentration of 10%, that increases from 1.04 mJ (non-cascade) to 1.51 mJ (cascade), increasing by about 45.2%. The experimental results confirm the existence of cascade output at room temperature in low-doped Er∶YAG crystals. The cascade is helpful to improve the single pulse energy of the mid-infrared laser.