We present a combined study of a coronal mass ejection (CME), revealed in a unique orbital configuration that permits the analysis of remote-sensing observations on 27 June 2007 from the twin Solar Terrestrial Relations Observatory (STEREO)-A and -B spacecraft and of its subsequent in situ counterpart outside the ecliptic plane, the interplanetary coronal mass ejection (ICME) observed on 04 July 2007 by Ulysses at 1.5 AU and heliographic-Earth-ecliptic coordinates system (HEE) 33° latitude and 49° longitude. We apply a triangulation method to the STEREO Sun Earth Connection Coronal and Heliospheric Investigation (SECCHI) COR2 coronagraph images of the CME, and a self-similar expansion fitting method to STEREO/SECCHI Heliospheric Imager (HI)-B. At Ulysses we observe: a preceding forward shock, followed by a sheath region, a magnetic cloud, a rear forward shock, followed by a compression region due to a succeeding high-speed stream (HSS) interacting with the ICME. From a minimum variance analysis (MVA) and a length-scale analysis we infer that the magnetic cloud at Ulysses, with a duration of 24 h, has a west-north-east configuration, length scale of ≈0.2 AU, and mean expansion speed of 14.2 km s−1. The relatively small size of this ICME is likely to be a result of its interaction with the succeeding HSS. This ICME differs from the previously known over-expanding types observed by Ulysses, in that it straddles a region between the slow and fast solar wind that in itself drives the rear shock. We describe the agreements and limitations of these observations in comparison with 3D magneto-hydrodynamic (MHD) heliospheric simulations of the ICME in the context of a complex solar-wind environment.