So that looks to me like the Ophioninae family of wasps, genus Ophion. I'll query the list of known species to try to find a more direct match.
Some evidence exists which notes Ophion may sting when threatened, but at the same time (and I don't have the reference ready) it's believed that the sting contains no toxin.
As for a positive identification, it's difficult without examining the the features of the wasp extremely close up. Identification keys exist here.