Orthorhombic Y$_{1-x}$Ca$_x$MnO$_3$ ($0 leq x leq 0.5$) was prepared under high pressure and the variations with $x$ of its structural, magnetic, electrical properties and the polarized Raman spectra were investigated. The lattice parameters change systematically with $x$. Although there are strong indications for increasing disorder above $x = 0.20$, the average structure remains orthorhombic in the whole substitutional range. Ca doping increases conductivity, but temperature dependence of resistivity $rho$(T) remains semiconducting for all $x$. The average magnetic exchange interaction changes from antiferromagnetic for $x < 0.08$ to ferromagnetic for $x > 0.08$. The evolution with $x$ of the Raman spectra provides evidence for increasingly disordered oxygen sublattice at $x geq 0.10$, presumably due to quasistatic and/or dynamical Jahn-Teller distortions.