We consider a quasi-one-dimensional system of spin-1 Heisenberg antiferromagnetic chains in two-dimensional and three-dimensional hypercubic lattices with interchain coupling J and uniaxial single-ion anisotropy D. Using large-scale numerical simulations, we map out the J-D phase diagram and investigate the low-lying excitations of the Haldane phase in the J≪1 limit. We also provide direct evidence that the Haldane phase remains a nontrivial symmetry-protected topological state for small but finite J.