We present the results of a systematic change of magnetic-domain structure of epitaxial MnAs film on GaAs(001) in a temperature range of 17.5 degrees C-45 degrees C by magnetic-force microscopy (MFM). As temperature decreases, the small localized domains are formed and gradually collapse to the stripe domains. Finally, at 17.5 degrees C the whole film turns to be a nearly single magnetic domain including only a small fraction of the nonferromagnetic beta-MnAs phase, as directly confirmed in the MFM experiment.