This Letter reports the observation of $WZ\gamma$ production and a measurement of its cross-section using 140.1 $\pm$ 1.2 fb$^{-1}$ of proton-proton collision data recorded at a center-of-mass energy of 13 TeV by the ATLAS detector at the Large Hadron Collider. The $WZ\gamma$ production cross-section, with both the $W$ and $Z$ bosons decaying leptonically, $pp \rightarrow WZ\gamma \rightarrow {\ell'}^{\pm}\nu\ell^{+}\ell^{-}\gamma$ ($\ell^{(')} = e, \mu$), is measured in a fiducial phase-space region defined such that the leptons and the photon have high transverse momentum and the photon is isolated. The cross-section is found to be 2.01 $\pm$ 0.30 (stat.) $\pm$ 0.16 (syst) fb. The corresponding Standard Model predicted cross-section calculated at next-to-leading order in perturbative quantum chromodynamics and at leading order in the electroweak coupling constant is 1.50 $\pm$ 0.06 fb. The observed significance of the $WZ\gamma$ signal is 6.3$\sigma$, compared with an expected significance of 5.0$\sigma$.
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