An energy threshold of (220 +/- 10) eV was achieved at an efficiency of 50% with a four-channel ultralow-energy germanium detector, each with an active mass of 5 g. This provides a unique probe to weakly interacting massive particles (WIMP) dark matter with mass below 10 GeV. With a data acquisition live time of 0.338 kg-day at the Kuo-Sheng Laboratory, constraints on WIMPs in the galactic halo were derived. The limits improve over previous results on both spin-independent WIMP-nucleon and spin-dependent WIMP-neutron cross-sections for WIMP mass between 3 and 6 GeV. Sensitivities for full-scale experiments are projected. This detector technique makes the unexplored sub-keV energy window accessible for new neutrino and dark matter experiments.