We demonstrate an all fiber passively mode-locked laser emitting a radially polarized beam by using a few-mode fiber Bragg grating to achieve mode selection and spectrum filtering. An offset splicing of single-mode fiber with four-mode fiber is utilized as a mode coupler in the laser cavity. Carbon nanotubes are introduced into the laser cavity as the saturable absorber to achieve self-start mode locking. The laser operates at 1547.5 nm with a narrow spectrum width of 0.3 nm at 30 dB. The emitted mode-locked pulses have a duration of 22.73 ps and repetition of 10.61 MHz. A radially polarized beam has been obtained with high mode purity by adjusting the polarization in the laser cavity.