Ultra-high nickel single-crystal cathode materials have become the most promising for lithium-ion batteries. However, the preparation of ultra-high nickel single-crystal precursors by a continuous coprecipitation method has the disadvantages of large particle size, wide distribution, poor morphology. The extent of the inhomogeneous reactions can be more severe in single-crystal cathodes with larger particle size. Herein, the coprecipitation method with a solid concentrator was adopted, and citrate sodium was used as a complexing agent to improve the physical properties of precursors and electrochemical performance of single-crystal cathode materials. By analyzing the morphology and agglomeration mechanism of the precursor nucleuses under different pH values, it was found that hexagonal nanosheets grew along the 101 direction, and the primary particles showed thicker at pH of 11.4. The hexagonal nanosheets grew along the 001 direction, and the primary particles showed finer at pH of 12.2. The morphology and particle size uniformity of the secondary particles formed by agglomeration at these two pH values showed poor. However, hexagonal nanosheets grew synergistically along the 001 and 101 directions at pH of 11.8, so the primary particles with uniform particle size gradually agglomerated, and then the secondary particles with ultra-small particle size and uniform distribution obtained. Compared to materials prepared by the traditional continuous coprecipitation method, the precursor displays a smaller particle size(D50 = 1.8 µm), higher sphericity, uniformity and denser internal structure. In order to evaluate the performance of Ni0.94Co0.04Mn0.02(OH)2 with ultra-small particle size, the sintering conditions of LiNi0.94Co0.04Mn0.02O2 need to be explored. It was found that the LiNi0.94Co0.04Mn0.02O2 cathode material prepared at 790 °C exhibited higher discharge capacity, cycle and rate performance, compared to materials prepared at 760 °C and 820 °C. We further utilized TEM, EPMA, and XPS to test the internal structure and valence state of LiNi0.94Co0.04Mn0.02O2 cathode material. The results show that the LiNi0.94Co0.04Mn0.02O2 calcined at 790 °C has a good single crystal structure. The LiNi0.94Co0.04Mn0.02O2 cathode materials inherited the structure and particle size of Ni0.94Co0.04Mn0.02(OH)2 precursors, and displayed discharge capacity of 194.7 mAh/g and capacity retention rate of 89.8 % after 100 cycles at 1 C. The microstructure and phase transition of the as-prepared cathode material are well-maintained after long-term cycling, without obvious inter-crystalline micro-crack. The results indicate that its electrochemical performance is better than that of cathode materials with precursors prepared by a continuous coprecipitation method. This work provides new insights for the preparation of small-particle-size precursor and single-crystal cathode materials.