Elastic and inelastic neutron scattering experiments have been carried out to investigate magnetic structure and magnetic excitations in anisotropic antiferromagnet FeTiO3. A detailed structure analysis shows that the spin direction of each Fe2+ ion is oblique away from the hexagonal c axis by (2.2+or-0.2) degrees at 4.3K with keeping all spins collinear. The oblique angle is found to be almost insensitive to the temperature variation up to the Neel temperature TN=57.35+or-0.05K, which was determined from the power law fitting of sublattice magnetisation data. It is shown that single ion anisotropy due to the crystalline electric field are inadequate to explain the magnetic structure. The excitation spectra, on the other hand, exhibit a complicated behaviour, reflecting the oblique easy-axis ground state, in which five distinct branches of magnetic origin are confirmed to exist at 12K. According to the phenomenological theory, in which the effective anisotropy is assumed to have an orthorhombic symmetry due to the obliqueness, four of the observed branches can be well reproduced by identifying them as non-degenerate acoustic and optical magnon modes including a hybridisation with a transverse acoustic phonon.