We demonstrate a diode-pumped femtosecond-laser-inscribed Yb:YAG channel waveguide laser, Q-switched by using single-walled carbon nanotubes (SWCNTs) near 1029 nm. We used saturable absorber mirrors (SAMs) fabricated by depositing SWCNTs on three different output couplers. Best performance of the 9.3-mm-long ultra-compact Q-switched waveguide laser is obtained with an output coupling transmission of 20%. In this case, a maximum average output power of 60 mW with a corresponding pulse energy of 37.7 nJ and a pulse duration of 88 ns at 1.59-MHz repetition rate were achieved. The highest pulse energy of 39.2 nJ and the shortest pulse duration of 78 ns were obtained with 30% and 10% output couplers, respectively.