We present observations of ZTF18abfcmjw (SN2019dge), a helium-rich supernova with a fast-evolving light curve indicating an extremely low ejecta mass (approximate to 0.33M(circle dot)) and low kinetic energy (approximate to 1.3 x 10(50)erg). Early-time (<4 days after explosion) photometry reveals evidence of shock cooling from an extended helium-rich envelope of similar to 0.1 M-circle dot located similar to 1.2 x 10(13) cm from the progenitor. Early-time He II line emission and subsequent spectra show signatures of interaction with helium-rich circumstellar material, which extends from greater than or similar to 5 x 10(13)cm to greater than or similar to 2 x 10(16)cm. 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(-1) (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.