We adopt the Dirac model for quasiparticles in graphene and calculate the finite-temperature Casimir interaction between a suspended graphene layer and a parallel conducting surface. We find that at high temperature, the Casimir interaction in such system is just one-half of that for two ideal conductors separated by the same distance. In this limit, a single graphene layer behaves exactly as a Drude metal. In particular, the contribution of the TE mode is suppressed, while the contribution of the TM mode saturates at the ideal-metal value. The behavior of the Casimir interaction for intermediate temperatures and separations accessible in experiments is studied in some detail. We also find an interesting interplay between two fundamental constants of graphene physics: the fine-structure constant and the Fermi velocity.