Antiferromagnets are normally thought of as materials with compensated magnetic sublattices. This adds to their technological advantages but complicates readout of the antiferromagnetic state. We demonstrate theoretically the existence of a Dzyaloshinskii-Moriya interaction (DMI) which is determined by the magnetic symmetry classes of Cr₂O₃ surfaces with an in-plane magnetic easy axis. The DMI explains a previously predicted out-of-plane magnetization at the nominally compensated surfaces of chromia, leading to a surface-localized canted ferrimagnetism. This is in agreement with magnetotransport measurements and with density functional theory predictions which further allow us to quantify the strength of DMI. The temperature dependence of the transversal resistance for these planes shows distinct behavior in comparison with that of the Cr₂O₃ plane, which we attribute to the influence of DMI. Our work provides a framework to analyze surface-driven phenomena in antiferromagnets, and motivates the use of nominally compensated chromia surfaces for antiferomagnetic spintronics and magnonics. Here, we provide the data for density functional theory and Monte Carlo calculations. Micromagnetic and experimental data for this joint experiment-theory collaboration are archived separately according to EU regulations.