A high power, high stability, eye-safe intracavity optical parametric oscillator (IOPO) working at the signal wavelength of 1534 nm was demonstrated, in which a type of non-critically phase-matched KTiOAsO4 (KTA) crystals were pumped by a diode-side-pumped acousto-optically Q-switched Nd:YAG laser. When a 25 mm-long KTA crystal was employed, a maximum average output power of 5.35 W and the minimum pulse width of 3.71 ns were obtained at the maximum 808 nm pump power of 143 W and the repetition rate of 6 kHz, giving an optical-optical conversion efficiency of 31.1% between the signal light at 1534 nm and the fundamental light at 1064 nm. To our best knowledge, it's the highest conversion efficiency for the KTA IOPO driven by diode-side-pumped Nd-doped lasers. The single pulse energy and peak power were determined to be 892 μJ and 287 kW, respectively. The power instability at the maximum output power was observed to be less than 1.72% during one hour.