The nonlinear efficiency for a gyrotron oscillator operating at harmonics of the cyclotron frequency has been calculated and is presented as a function of generalized parameters for the second through fifth harmonics. The numerical results are valid for a wide range of operating conditions, including voltage, current, beam radius, cavity dimensions, and operating mode. Relatively high efficiencies are found even at high harmonics; the maximum transverse efficiencies for harmonics 2, 3, 4, and 5 are 0.72, 0.57, 0.45, and 0.36, respectively. The calculation of the efficiency in terms of generalized parameters allows the straightforward design and optimization of harmonic gyrotrons. The influence of the axial profile of the rf field in the gyrotron cavity on the efficiency is also investigated. Improved efficiency can be achieved with asymmetric field profiles. The implications of these results for the generation of millimeter and submillimeter wave radiation by harmonic emission are discussed.