A compact mid-infrared (MIR) dual-wavelength optical parametric oscillator (OPO) pumped by Yb-doped fiber lasers (YDFLs) based on dual-crystal with an L-shaped cavity structure is demonstrated. Two periodically poled MgO-doped lithium niobite (PPMgLN) crystals with polarization periods of 30.44 μm and 28.96 μm are pumped by two YDFLs, respectively. The dual-wavelength output at 3.45 μm and 4.00 μm is obtained synchronously by adjusting the double pump power. When the total power of double-end pumping is 28.98 W with a ratio of 2:3, the pulse width is 60.80 ns under the repetition frequency of 110 kHz, the output power is 1.483 W@3.45 μm and 1.703 W@4.00 μm, respectively. The total conversion efficiency is 10.99%. By utilizing this cavity structure, the gain and wavelength tuning of the two OPOs can be controlled separately. Meanwhile, the pulse width is 46.93 ns@3.45 μm and 39.38 ns@4.00 μm, respectively. The laser beam quality closely approaches the theoretical quality of the fundamental mode beam. Additionally, by independently adjusting the temperature of the two PPMgLN crystals from 20 °C to 150 °C, tunable mid-infrared laser outputs with wavelengths of 3.448–3.272 μm and 4.006–3.864 μm are achieved. The corresponding tuning bandwidths are 176 nm and 142 nm, respectively.