An intracavity continuous-wave singly resonant optical parametric oscillator (OPO) with wavelengths of 1.9 μm and 2.4 μm is demonstrated. The 1.9 μm and 2.4 μm dual-wavelength continuous lasers are obtained through intracavity pumping the MgO-doped periodically poled LiNbO3 (PPMgLN) and yttrium vanadate (NdYVO4) crystal with a single semiconductor laser diode (LD). 750 mW signal wave at 1.9 μm and 370 mW idler wave at 2.4 μm, are simultaneously obtained when the LD power is 5.5 W at room temperature. The corresponding conversion efficiencies are 13.6% and 6.7% respectively, so the whole efficiency is more than 20%. The output power instability is no more than 1.8% over a measurement period of 5 h. Additionally, the threshold characteristics and conversion efficiency of PPMgLN crystal with different lengths are analyzed. By output wavelength stability test, it is found that better control of the temperature of crystal can improve the phenomenon of wavelength drift.