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EuMnSb₂ is a potential Dirac semimetal with Dirac fermions located in the Sb layers. These Dirac fermions have the potential to be controlled by a magnetic field if the magnetic order of the Eu or Mn sublattices couples to them. A large anisotropic magnetoresistance suggests that this coupling is strong in EuMnSb₂. Here we present results from single-crystal neutron diffraction experiments on EuMnSb₂. We find that the Eu and Mn magnetic sublattices order antiferromagnetically (AF) at 24(1) K and 324(1) K, respectively, with an additional magnetic phase transition at 9(1) K related to the coupling between both magnetic sublattices. Neutron diffraction shows that each AF phase is characterized by a magnetic unit cell equal to the chemical unit cell in contrast to Mossbauer measurements which suggest incommensurability. Our analysis indicates that the ordered Eu moments chiefly point perpendicular to the Sb planes and that the Mn moments align within the planes.