The space rock, which was found by astronomers using the PAN-STARRS telescope in Hawaii, came within just 0.24 lunar distances, or 92,000 kilometres, of Earth.
The asteroid belongs to the Aten group of space rocks, which are asteroids which have an orbit with a close proximity to Earth.
However, most Aten asteroids pose no threat to Earth and this one is no different.
However, NASA designated the asteroid as an Near Earth Object (NEO), which allows the space agency to study it.
Asteroid tracker: London Eye sized rock to make 'near Earth' approach
Paul Chodas, the director of NASA's Center for Near Earth Object Studies, told Business Insider: "The asteroid approached undetected from the direction of the sun