The use of RTP crystals as electro-optical crystals, laser diode (LD) end-pumped Nd:GdVO4 crystal pulse mode-locked picosecond regenerative amplifier is reported. Geometric parameters of the laser cavity are optimized to achieve the best mode matching between picosecond seed and regenerative amplifier by ABCD matrix. Laser pulses are provided at pump power 7.5 W with a pulse duration of 12 ps, a peak power of 2.08×106 W, a repetition rate of 100 kHz, optical-optical conversion efficiency of 33.3%, energy gain of 4.8×103 times. And TEM00 mode is achieved with the beam quality factor M2 less than 1.2 and the long-term stability root mean square (RMS) is less than 3%.