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The development of quantum cascade laser at 2.94 THz is reported. The laser structure is based on a bound-to-continuum active region and a semi-insulating surface-plasmon waveguide. Lasing is observed up to a heat-sink temperature of 70 K in pulsed mode with light power of 4.75 mW at 10 K and 1 mW at 70 K. A threshold current density of 296.5 A/cm2 and an inteal quantum efficiency of 1.57 * 10-2 per cascade period are also observed at 10 K. The characteristic temperature of this laser is extracted to be T0 = 57.5 K.