We present observations of ZTF18abfcmjw (SN2019dge), a helium-rich supernova with a fast-evolving light curve indicating an extremely low ejecta mass (~0.33M{sun}) and low kinetic energy (~1.3x1050erg). Early-time (<4days after explosion) photometry reveals evidence of shock cooling from an extended helium-rich envelope of ~0.1M{sun} located ~1.2x1013cm from the progenitor. Early-time HeII line emission and subsequent spectra show signatures of interaction with helium-rich circumstellar material, which extends from >~5x1013cm to >~2x1016cm. We interpret SN2019dge as a helium-rich supernova from an ultra-stripped progenitor, which originates from a close binary system consisting of a mass-losing helium star and a low-mass main-sequence star or a compact object (i.e., a white dwarf, a neutron star, or a black hole). We infer that the local volumetric birth rate of 19dge-like ultra-stripped SNe is in the range of 1400-8200/Gpc^3^/yr (i.e., 2%-12% of core-collapse supernova rate). This can be compared to the observed coalescence rate of compact neutron star binaries that are not formed by dynamical capture.