Aims. For more than 1.5 years we monitored spectroscopically the star KELT-6 (BD+312447), known to host the transiting hot Saturn KELT-6b, because a previously observed long-term trend in radial velocity time series suggested the existence of an outer companion. Methods. We collected a total of 93 new spectra with the HARPS-N and TRES spectrographs. A spectroscopic transit of KELT-6b was observed with HARPS-N, and simultaneous photometry was obtained with the IAC-80 telescope. Results. We proved the existence of an outer planet with a mininum mass M$_{rm p}$sini=3.71$pm$0.21 M$_{rm Jup}$ and a moderately eccentric orbit ($e=0.21_{-0.036}^{+0.039}$) of period P$sim$3.5 years. We improved the orbital solution of KELT-6b and obtained the first measurement of the Rossiter-McLaughlin effect, showing that the planet has a likely circular, prograde, and slightly misaligned orbit, with a projected spin-orbit angle $lambda$=$-$36$pm$11 degrees. We improved the KELT-6b transit ephemeris from photometry, and we provided new measurements of the stellar parameters. KELT-6 appears as an interesting case to study the formation and evolution of multi-planet systems.
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