We have studied a nearly stoichiometric insulating Y0.97(2)Cr0.98(2)O3.00(2) single crystal by performing measurements of magnetization, heat capacity, and neutron diffraction. Albeit that the YCrO3 compound behaves like a soft ferromagnet with a coersive force of ∼0.05 T, there exist strong antiferromagnetic (AFM) interactions between Cr3+ spins due to a strongly negative paramagnetic Curie-Weiss temperature, i.e., -433.2(6) K. The coexistence of ferromagnetism and antiferromagnetism may indicate a canted AFM structure. The AFM phase transition occurs at TN=141.5(1)K, which increases to TN(5 T) = 144.5(1) K at 5 T. Within the accuracy of the present neutron-diffraction studies, we determined a G-type AFM structure with a propagation vector k = (1 1 0) and Cr3+ spin directions along the crystallographic c axis of the orthorhombic structure with space group Pnma below TN. At 12 K, the refined moment size is 2.45(6) μB, ∼82% of the theoretical saturation value 3μB. The Cr3+ spin interactions are probably two-dimensional Ising like within the reciprocal (1 1 0) scattering plane. Below TN, the lattice configuration (a, b, c, and V) deviates largely downward from the Grüneisen law, displaying an anisotropic magnetostriction effect and a magnetoelastic effect. Especially, the sample contraction upon cooling is enhanced below the AFM transition temperature. There is evidence to suggest that the actual crystalline symmetry of YCrO3 compound is probably lower than the currently assumed one. Additionally, we compared the t2gYCrO3 and the egLa7/8Sr1/8MnO3 single crystals for a further understanding of the reason for the possible symmetry lowering.