Aims. HD 206893 is a nearby debris disk star that hosts a previously identified brown dwarf companion with an orbital separation of ∼10 au. Long-term precise radial velocity (RV) monitoring, as well as anomalies in the system proper motion, has suggested the presence of an additional, inner companion in the system. Methods. Using information from ongoing precision RV measurements with the HARPS spectrograph, as well as Gaia host star astrometry, we have undertaken a multi-epoch search for the purported additional planet using the VLTI/GRAVITY instrument. Results. We report a high-significance detection over three epochs of the companion HD 206893c, which shows clear evidence for Keplerian orbital motion. Our astrometry with ∼50−100 μarcsec ...