High optical quality Er3+:YVO4 laser crystals have been grown by using the floating zone method (FZ). The spectroscopic properties and 3 mum lasing of Er3+:YVO4 were investigated. It is found that the Er3+ concentration has a negative effect on the emission of the transition I-4(13/2)->I-4(15/2)(155 mum), and a positive effect on that of the I-4(11/2)->I-4(13/2) transition (2.68 mum). With direct upper-state pumping and a plane-concave cavity a self-terminating laser was achieved at the wavelength of 2.724 mum in the 30 at% Er (3+) doped sample.