AbstractUltrashort intense optical pulses in the mid-infrared (mid-IR) region are very important for broad applications ranging from super-resolution spectroscopy to attosecond X-ray pulse generation and particle acceleration. However, currently, it is still difficult to produce few-cycle mid-IR pulses of relativistic intensities using standard optical techniques. Here, we propose and numerically demonstrate a novel scheme to produce these mid-IR pulses based on laser-driven plasma optical modulation. In this scheme, a plasma wake is first excited by an intense drive laser pulse in an underdense plasma, and a signal laser pulse initially at the same wavelength (1 micron) as that of the drive laser is subsequently injected into the plasma wake. The signal pulse is converted to a relativistic multi-millijoule near-single-cycle mid-IR pulse with a central wavelength of ~5 microns via frequency-downshifting, where the energy conversion efficiency is as high as approximately 30% when the drive and signal laser pulses are both at a few tens of millijoules at the beginning. Our scheme can be realized with terawatt-class kHz laser systems, which may bring new opportunities in high-field physics and ultrafast science.