The progenitor system of Type Ia supernovae (SNe Ia) is expected to be a close binary system of a carbon/oxygen white dwarf (WD) and a non-degenerate star or another WD. Here, we present results from a high-cadence monitoring observation of SN 2021hpr in a spiral galaxy, NGC 3147, and constraints on the progenitor system based on its early multi-color light curve data. First, we classify SN 2021hpr as a normal SN Ia from its long-term photometric and spectroscopic data. More interestingly, we found a significant "early excess" in the light curve over a simple power-law $\sim t^{2}$ evolution. The early light curve evolves from blue to red and blue during the first week. To explain this, we fitted the early part of $BVRI$-band light curves with a two-component model of the ejecta-companion interaction and a simple power-law model. The early excess and its color can be explained by shock cooling emission due to a companion star having a radius of $8.84\pm0.58$$R_{\odot}$. We also examined HST pre-explosion images with no detection of a progenitor candidate, consistent with the above result. However, we could not detect signs of a significant amount of the stripped mass from a non-degenerate companion star ($\lesssim0.003\,M_{\odot}$ for H$\alpha$ emission). The early excess light in the multi-band light curve supports a non-degenerate companion in the progenitor system of SN 2021hpr. At the same time, the non-detection of emission lines opens a door for other methods to explain this event. Comment: 26 pages, 13 figures + appendix, Accepted for publication in ApJ
