Atomic magnetometer operating in spin-exchange-relaxation-free (SERF) regime has a wide range of applications due to its ultra-high sensitivity. However, the requirement of operating in near-zero magnetic field restricts some of the applications which need the atomic magnetometer to work in the high field environment such as monitoring the magnetic anomalies. A novel scheme of the chip-scale SERF atomic magnetometer operating in geomagnetic field without magnetic shield is demonstrated here. A 18 bits high-precise digital-to-analog converter (DAC) is applied to ensure the stability of the compensated magnetic field. The fluctuation of the compensated magnetic field is less than 8.3nT and a measurement sensitivity of 12.4pT/Hz1/2 is achieved in the laboratory environment without any magnetic shields.