Abstract We found that an intermediate-velocity cloud (IVC), IVC 86−36, in H i 21 cm emission shows a head–tail distribution toward the Galactic plane with marked parallel filamentary streamers, which is extended over 40° in the sky. The distance of IVC 86−36 is constrained to be less than ∼3 kpc from absorption of a background star as determined from optical spectroscopy. There is a bridge feature in velocity between the IVC and the local interstellar medium with velocity separation of ∼50 km s−1, which may indicate dynamical interaction of the IVC with the disk. If the interaction is correct, the distance estimate d of the IVC ranges from 200 pc to 3 kpc, and the mass of the IVC head is estimated to be $7\times 10^3(d/1\:\mbox{kpc})^2\, M_{⊙ }$. The IVC shares similar properties to the Smith Cloud located at 12 kpc, including the head–tail distribution, streamers, and bridge feature, while the mass of the IVC is less than ∼0.1 of the Smith Cloud. A comparison between the H i and the Planck/IRAS dust emission indicates that the dust emission of IVC 86−36 is not detectable in spite of its H i column density of 2 × 1020 cm−2, indicating a low metallicity for IVC 86−36, reduced by a factor of $\lesssim \!\!0.2$ as compared with the solar neighbor. We conclude that IVC 86−38 is an infalling cloud which likely originated in the low-metallicity environment of the Galactic halo or the Magellanic system.