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We present the discovery of DELVE 6, an ultra-faint stellar system identifiedin the second data release of the DECam Local Volume Exploration (DELVE)survey. Based on a maximum-likelihood fit to its structure and stellarpopulation, we find that DELVE 6 is an old ($\tau > 9.8$ Gyr, at 95%confidence) and metal-poor ($\rm [Fe/H] < -1.17$ dex, at 95% confidence)stellar system with an absolute magnitude of $M_V = -1.5^{+0.4}_{-0.6}$ mag andan azimuthally-averaged half-light radius of $r_{1/2} =10^{+4}_{-3}$ pc. Theseproperties are consistent with the population of ultra-faint star clustersuncovered by recent surveys. Interestingly, DELVE 6 is located at an angularseparation of $\sim 10\deg$ from the center of the Small Magellanic Cloud(SMC), corresponding to a three-dimensional physical separation of $\sim 20$kpc given the system's observed distance ($D_{\odot} = 80$ kpc). This alsoplaces the system $\sim 35$ kpc from the center of the Large Magellanic Cloud(LMC), lying within recent constraints on the size of the LMC's dark matterhalo. We tentatively measure the proper motion of DELVE 6 using data from$\textit{Gaia}$, which we find supports a potential association between thesystem and the LMC/SMC. Although future kinematic measurements will benecessary to determine its origins, we highlight that DELVE 6 may representonly the second or third ancient ($\tau > 9$ Gyr) star cluster associated withthe SMC, or one of fewer than two dozen ancient clusters associated with theLMC. Nonetheless, we cannot currently rule out the possibility that the systemis a distant Milky Way halo star cluster.

DELVE 6: An Ancient, Ultra-Faint Star Cluster on the Outskirts of the Magellanic Clouds