An end-pumped high efficiency and high beam quality solid-state laser which can easily be switched between two different wavelengths is demonstrated. The maximum output power of 14.1 W at 1064 nm and 9.1 W at 532 nm are obtained with the incident pump power of 29 W at 808 nm, corresponding to the Pump-NIR conversion efficiency of 48.6% and the Pump-VIS conversion efficiency of 31.4%, respectively. The measured beam quality, Mx2 and My2 for the 1064 nm are 1.23 and 1.25. The measured beam quality, Mx2 and My2 for the 532 nm are 1.17 and 1.27. The freely switching of output wavelength is obtained by employing a quartz crystal as a polarization rotator. In addition, the influences of different gain medium crystals (YVO4/Nd:YVO4 and Nd:YVO4) and different pump coupling ratios of pump-coupling optical system on the output beam quality are investigated.