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We present a Wide-field ASKAP L-Band Legacy All-sky Blind surveY (WALLABY)study of the nearby ($v_{\rm sys}$ = 915 km s$^{-1}$) spiral galaxy IC 5201using the Australian Square Kilometre Array Pathfinder (ASKAP). IC 5201 is ablue, barred spiral galaxy that follows the known scaling relations betweenstellar mass, SFR, HI mass and diameter. We create a four-beam mosaicked HIimage cube, from 175 hours of observations made with a 12-antenna sub-array.The RMS noise level of the cube is 1.7 mJy beam$^{-1}$ per channel, equivalentto a column density of $N_{\rm HI}$ = 1.4 $\times$ 10$^{20}$ cm$^{-2}$ over 25km s$^{-1}$. We report 9 extragalactic HI detections $-$ 5 new HI detectionsincluding the first velocity measurements for 2 galaxies. These sources are IC5201, 3 dwarf satellite galaxies, 2 galaxies and a tidal feature belonging tothe NGC 7232/3 triplet and 2 potential infalling galaxies to the triplet. Thereis evidence of a previous tidal interaction between IC 5201 and the irregularsatellite AM 2220$-$460. A close fly-by is likely responsible for theasymmetric optical morphology of IC 5201 and warping its disc, resulting in theirregular morphology of AM 2220$-$460. We quantify the HI kinematics of IC5201, presenting its rotation curve as well as showing that the warp starts at14 kpc along the major axis, increasing as a function of radius with a maximumdifference in position angle of 20$^\circ$. There is no evidence of strippedHI, triggered or quenched star formation in the system as measured using DECamoptical and $GALEX$ UV photometry.

WALLABY Early Science -- IV. ASKAP HI imaging of the nearby galaxy IC 5201