The characteristics of RbTiOPO4 (RTP) electro-optic (EO) Q-switch are experimentally studied in an all-solid-state laser which is end-pumped by a continuous-wave laser diode. Stable pulse train is generated at repetition rate of 30 kHz with pump power of 24 W. The maximum average output power is 6.7 W,and the pulse width is 7.8 ns with corresponding peak power of 28.6 kW. The pulse energy fluctuation is less than 5%,and the slope efficiency is 34.9%. It is found that the laser performance is better when using the RTP EO Q-switch in cavity than using La3Ga5SiO14 (LGS) Q-switch. Furthermore,the driving voltage of RTP Q-switch is significantly lower than that of LGS. This high repetition rate,end-pumped all-solid-state laser with an RTP based EO Q-switch can be considered as a candidate for the three-dimensional (3D) imaging lidar transmitter.