An analytical study of second harmonic generation due to interaction an intense, p-polarized laser beam propagating obliquely in homogeneous underdense plasma, in the mildly relativistic regime, has been presented. The efficiency of the second harmonic radiation as well as its detuning length has been obtained and their variation with the angle of incidence is analyzed. It is shown that, for a given plasma electron density, the second harmonic efficiency increases with the angle of incidence while the detuning length decreases. The second harmonic amplitude vanishes at normal incidence of the laser beam.