Changes of external parameters in proximity of critical point can increase thermal fluctuations of tubular lipid membrane (TLM) and result in variation of the membrane shape. The phase transitions in the system are shown to be controlled by a single effective parameter, which depends on the pressure difference between inner and outer regions of membrane and the applied stretching force. We determine an interval of the parameter values corresponding to the stability region of the cylindrical shape of TLM and investigate the behavior of the system in the vicinity of critical instabilities, where the cylindrical shape of membrane becomes unstable with respect to thermal fluctuations. The applied boundary conditions strongly influence the behavior of TLM. For example, small negative effective parameter corresponds to chiral shape of TLM only in the case of periodic boundary conditions. We also discuss other three types of phase transitions emerging in the system.