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We present Director's Discretionary Time multi-frequency observations obtained with the Jansky Very Large Array (VLA) and the Very Long Baseline Array (VLBA) of the blazar PSO J030947.49+271757.31 (hereafter PSO J0309+27) at $z = 6.10\pm0.03$. The milliarcsecond angular resolution of our VLBA observations at 1.5, 5 and 8.4 GHz unveils a bright one-sided jet extended for $\sim500$ parsecs in projection. This high-z radio-loud AGN is resolved into multiple compact sub-components, embedded in a more diffuse and faint radio emission, which enshrouds them in a continuous jet structure. We derive limits on some physical parameters directly from the observable quantities, such as viewing angle, Lorentz and Doppler factors. If PSO J0309+27 is a genuine blazar, as suggested by its X-ray properties, then we find that its bulk Lorentz factor must be relatively low (less than 5). Such value would be in favour of a scenario currently proposed to reconcile the paucity of high-z blazars with respect to current predictions. Nevertheless, we cannot exclude that PSO J0309+27 is seen under a larger viewing angle, which would imply that the X-ray emission must be enhanced, for example, by inverse Compton with the Cosmic Microwave Background. More stringent constraints on the bulk Lorentz factor in PSO J0309+27 and the other high-z blazars are necessary to test whether their properties are intrinsically different with respect to the low-z blazar population.