The picosecond pulse from 1064 nm Yb-doped all-fiber mode-locked laser is amplified by Nd: YAG regenerative amplifier. Research is focused on the influence of Yb-doped all-fiber mode-locked laser on the efficiency of energy extraction of Nd: YAG regeneration amplifier. In order to increase the efficiency of energy extraction, spectral oscillatory fringe is decreased by means of restricting the self-phase modulation of Yb-doped all-fiber mode-locked laser. The Nd:YAG regenerative amplifier produces stable pulse energy of 1.3 mJ at a repetition rate of 1 kHz, which is seeded by a Yb-doped all-fiber mode-locked laser, with a low energy of 3.2 nJ, center wavelength of 1064.1 nm, 3 dB bandwidth of 0.35 nm 11 ps duration.