Abstract We present the direct-imaging discovery of a substellar companion (a massive planet or low-mass brown dwarf) to the young, γ Doradus (γ Dor)-type variable star HIP 39017 (HD 65526). The companion’s SCExAO/CHARIS JHK (1.1–2.4 μm) spectrum and Keck/NIRC2 L ′ photometry indicate that it is an L/T transition object. A comparison of the JHK+L ′ spectrum to several atmospheric model grids finds a significantly better fit to cloudy models than cloudless models. Orbit modeling with relative astrometry and precision stellar astrometry from Hipparcos and Gaia yields a semimajor axis of 23.8 − 6.1 + 8.7 au, a dynamical companion mass of 30 − 12 + 31 M _J, and a mass ratio of ∼1.9%, properties most consistent with low-mass brown dwarfs. However, its mass estimated from luminosity models is a lower ∼13.8 M _J due to an estimated young age (≲115 Myr); using a weighted posterior distribution informed by conservative mass constraints from luminosity evolutionary models yields a lower dynamical mass of 23.6 − 7.4 + 9.1 M _J and a mass ratio of ∼1.4%. Analysis of the host star’s multifrequency γ Dor-type pulsations, astrometric monitoring of HIP 39017 b, and Gaia Data Release 4 astrometry of the star will clarify the system age and better constrain the mass and orbit of the companion. This discovery further reinforces the improved efficiency of targeted direct-imaging campaigns informed by long-baseline, precision stellar astrometry.