In the superradiant phase transition (SRPT), coherent light and matter fields are expected to appear spontaneously in a coupled light–matter system in thermal equilibrium. However, such an equilibrium SRPT is forbidden in the case of charge-based light–matter coupling, known as no-go theorems. Here, we show that the low-temperature phase transition of ErFeO3 at a critical temperature of approximately 4 K is an equilibrium SRPT achieved through coupling between Fe3+ magnons and Er3+ spins. By verifying the efficacy of our spin model using realistic parameters evaluated via terahertz magnetospectroscopy and magnetization experiments, we demonstrate that the cooperative, ultrastrong magnon–spin coupling causes the phase transition. In contrast to prior studies on laser-driven non-equilibrium SRPTs in atomic systems, the magnonic SRPT in ErFeO3 occurs in thermal equilibrium in accordance with the originally envisioned SRPT, thereby yielding a unique ground state of a hybrid system in the ultrastrong coupling regime.