The theory of Big Bang nucleosynthesis, coupled with an estimate of the primordial deuterium abundance (D/H)_pr, offers insights into the baryon density of the Universe. Independently, the baryon density can be constrained during a different cosmological era through the analysis of cosmic microwave background (CMB) anisotropy. The comparison of these estimates serves as a rigorous test for the self-consistency of the Standard Cosmological Model and stands as a potent tool in the quest for new physics beyond the Standard Model of Particle Physics. For a meaningful comparison, a clear understanding of the various systematic errors affecting deuterium measurements is crucial. Given the limited number of D/H measurements, each new estimate carries significant weight. This study presents the detection of DI absorption lines in a metal-poor sub-Damped Lyman-alpha system ([O/H]=-1.71+-0.02, logN(HI)=19.304+-0.004) at z_abs=3.42 towards the quasar J1332+0052. Through simultaneous fitting of HI and DI Lyman-series lines, as well as low-ionization metal lines, observed at high spectral resolution and high signal-to-noise using VLT/UVES and Keck/HIRES, we derive log(DI/HI)=-4.622+-0.014, accounting for statistical and systematic uncertainties of 0.008dex and 0.012dex, respectively. Thanks to negligible ionization corrections and minimal deuterium astration at low metallicity, this D/H ratio provides a robust measurement of the primordial deuterium abundance, consistent and competitive with previous works. Incorporating all prior measurements, the best estimate of the primordial deuterium abundance is constrained as: (D/H)_pr=(2.533+-0.024)*10^-5. This represents a 5% improvement in precision over previous studies and reveals a moderate tension with the expectation from the Standard Model (~2.2sig). This discrepancy underscores the importance of further measurements in the pursuit of new physics.