The search for spin-reorientation (SR) phase transitions, a spontaneous rotation of ordered magnetic moments, in ferrimagnetic (FiM) materials, which carry a net magnetization, is of fundamental and practical interest for applications in the field of spintronics. In this work, we have investigated Mn self-doped (Er0.7Mn0.3)MnO3 solid solution with GdFeO3-type Pnma perovskite structure by combining specific heat, magnetic susceptibility and neutron powder diffraction measurements. We provide experimental evidence for FiM order below TC = 104 K, and a spontaneous SR transition at TSR = 11 K. A FiM structure appears in all (R1-xMnx)MnO3 compounds with R = Dy–Lu for x ≥ 0.2. But in this structural family, R = Er is the only material with a SR transition. FiM order in (Er0.7Mn0.3)MnO3 appears with ferromagnetic (FM) ordering of Mn3+ and Mn4+ cations at the B site along the a-direction, which are antiferromagnetically (AFM) coupled with Er3+ and Mn2+ cations at the A site. At TSR, ordered Er3+ change direction from the magnetically harder a-axis to the magnetically easy b-axis and induce a change of the whole FiM structure, including the direction of all Mn spins from the irreducible representation mGM3+ to mGM4+. We calculated the crystal-field (CF) anisotropy for Ho3+ in (Ho0.8Mn0.2)MnO3 and Er3+ in (Er0.7Mn0.3)MnO3, based on the point charge model; the results revealed large magnetic anisotropies. For the FiM structure of (Ho0.8Mn0.2)MnO3, the magnetically easy a-axis of Ho3+ keeps the high-temperature magnetic directions along the a-axis and gives rise to a pronounced magnetization reversal effect at low temperature because of a significant rise of Ho3+ ordered moments. On the other hand, for the FiM structure of (Er0.7Mn0.3)MnO3, the magnetically easy b-axis of Er3+ gives rise to a SR phase transition at TSR, which does not lead to magnetization reversal even though Er3+ ordered moments rise significantly at low temperatures.