We report a single-crystal study on the magnetism of the rare-earth compound PrTiNbO$_6$ that experimentally realizes the zigzag pseudospin-$frac{1}{2}$ quantum antiferromagnetic chain model. Random crystal electric field caused by the site mixing between non-magnetic Ti$^{4+}$ and Nb$^{5+}$, results in the non-Kramers ground state quasi-doublet of Pr$^{3+}$ with the effective pseudospin-$frac{1}{2}$ Ising moment. Despite the antiferromagnetic intersite coupling of about 4 K, no magnetic freezing is detected down to 0.1 K, whilst the system approaches its ground state with almost zero residual spin entropy. At low temperatures, a sizable gap of about 1 K is observed in zero field. We ascribe this gap to off-diagonal anisotropy terms in the pseudospin Hamiltonian, and argue that rare-earth oxides open an interesting venue for studying magnetism of quantum spin chains.
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