We demonstrate multi-cycle terahertz (MC-THz) generation in a 15.5 mm long periodically poled rubidium (Rb)-doped potassium titanyl phosphate (Rb:PPKTP) crystal with a poling period of 300 µm. By cryogenically cooling the crystal to 77 K, up to 0.72 µJ terahertz energy is obtained at a frequency of 0.5 THz with a 3 GHz bandwidth. A maximum internal optical-to-terahertz conversion efficiency of 0.16% is achieved, which is comparable with results achieved using periodically poled lithium niobate crystal. Neither photorefractive effects nor damage was observed with up to 900mJ/cm2, showing the great potential of Rb:PPKTP for multi-millijoule-level MC-THz generation.