In this paper, we have investigated the excitation of chaotic atomic population oscillations in a spin-orbit (SO) coupled Bose-Einstein condensate (BEC). Unlike previous SOC system with monochrome and bichromatic driving, the present system reveals the chaotic excitation induced by the initial condition in the nondissipative regime and by the driving strength in the dissipative regime under the action of a square-wave driving. The damping-dependent chaotic parameter regions and the modulation of atomic population oscillations by the square-wave driving are studied. The existence of chaos is confirmed by computing the corresponding largest Lyapunov exponents. The results could be significant in the quantum transport of the SO coupled cold-atom system.