A compact diode-side-pumped Tm:YAG laser is presented, which can output 51 W of cw power at 2.02μm. The Tm:YAG rod is side pumped by nine diode arrays with the central wavelength of 783nm and the with bandwidth of about 2.5 nm at 25℃. To decrease the thermal effect on the both ends and dissipate the heat effectively, one composite Tm:YAG rod with the undoped YAG end caps and the screw threads on the side surface of the rod is used as the laser crystal. The maximum optical-to-optical conversion efficiency of the 2.02-μm laser output is 14.2%, with a slope efficiency of 26.8%.