Cylindrical vector beams (CVBs), characterized by their spatially non-uniform but rotationally symmetric polarization distributions, have garnered considerable attention due to their unique properties. In this Letter, we demonstrate the generation of cylindrical vector beams directly from a Yb-doped Mamyshev oscillator (MO). Both the radially and azimuthally polarized vector beams are achieved with a pulse duration of 3.6 ps and a pulse energy of 8.2 nJ at the repetition rate of 15.25 MHz. We also find that the filtered linearly polarized beam from the output CVBs can be homogeneously dechirped to 114 fs using the external grating pairs, indicating the potential intracavity pulse compression capability for the output CVBs. Simultaneously, ultrafast scalar Gaussian beams can also be obtained from another arm. These results can give insights into the experimental design and realization of high-energy and high-power structured (CVB or vortex) ultrashort lasers.