To support efforts on cooling and trapping of alkaline-earth atoms and designs of atomic clocks, we performed ab initio relativistic many-body calculations of electric-dipole transition amplitudes between low-lying states of Mg, Ca, and Sr. In particular, we report amplitudes, and for 3 P o 2 → 1 D 2 transitions. For Ca, the reduced matrix element 4s4p 1 P o 1 ||D||4s 2 1 S 0 is in a good agreement with a high-precision experimental value deduced from photoassociation spectroscopy [Zinner et al., Phys. Rev. Lett. 85, 2292 ]. An estimated uncertainty of the calculated lifetime of the 3s3p 1 P o 1 state of Mg is a factor of three smaller than that of the most accurate experiment. Calculated binding energies reproduce experimental values within 0.1-0.2%.