The progenitor system of Type Ia supernovae (SNe Ia) is expected to be a close binary system consisting of a carbon/oxygen white dwarf (WD) and a nondegenerate star or another WD. Here, we present results from high-cadence monitoring observations of SN 2021hpr in a spiral galaxy, NGC 3147, and constraints on the progenitor system based on its early multicolor light-curve data. First, we classify SN 2021hpr as a normal SN Ia from its long-term photometric and spectroscopic data. More interestingly, we found a significant "early excess" in the light curve over a simple power-law ~t^2^ evolution. The early light curve evolves from blue to red to blue during the first week. To explain this, we fitted the early part of the BVRI-band light curves with a two-component model consisting of ejecta-companion interaction and a simple power-law model. The early excess and its color can be explained by shock-cooling emission due to a companion star having a radius of 8.84+/-0.58R_{sun}_. We also examined Hubble Space Telescope preexplosion images, finding no detection of a progenitor candidate, consistent with the above result. However, we could not detect signs of a significant amount of stripped mass from a nondegenerate companion star (<~0.003M_{sun}_ for H{alpha} emission). The early excess light in the multiband light curve supports a nondegenerate companion in the progenitor system of SN 2021hpr. At the same time, the nondetection of emission lines opens the door for other methods to explain this event.