The combination of a Stokes parametric oscillator and a Stokes parametric amplifier is used to generate high-energy terahertz pulses in KTiOPO4 (KTP) crystal at 5.70 THz. The Stokes parametric oscillator generates Stokes pulses first. And then they are amplified in the Stokes parametric amplifier and at the same time, high energy terahertz pulses are generated via stimulated polariton scattering. When the incident Stokes pulse energy is 36.6 mJ and the pump energy is 580.0 mJ, the amplified Stokes energy is 192.1 mJ and the obtained maximum terahertz pulse energy is 17.0 μJ. Compared with the reported terahertz pulse energy obtained by the KTiOPO4 terahertz parametric oscillators or generators, the terahertz pulse energy is greatly enhanced. In addition, considering the large angle non-collinear phase matching, pump beam depletion, terahertz wave surface-emitted structure, Gaussian pulse distribution, we make a theoretical simulation for the Stokes parametric amplifier through the coupled-wave equations. The theoretical results are in agreement with the experimental results on the whole.