A tabletop optical parametric chirped pulse amplification (OPCPA) system is developed based on ZnGeP2 crystals to generate 3.2-mJ, 92-fs pulses centered at 3.1 μm, operating at 1 kHz. Pumped by a 2-μm chirped pulse amplifier (CPA) with a top-hat beam profile, the amplifier achieves a 16.5% overall efficiency, which is the highest efficiency achieved by OPCPA at this wavelength. The spectral bandwidth of the pulse can be further broadened by converting the OPCPA to a non-collinear configuration.