The bus-sized asteroid named '2017 YZ4' was at its closest approach to Earth at 3:56pm GMT on Thursday, missing us by 140,000 miles (224,000 km). For comparison, the moon is 238,000 miles (384,000 miles) away!
This is the 52nd asteroid this year to fly within the distance between the Earth and the moon.
It's speculated that if 2017 YZ4 did hit Earth, the damage would be similar to the Chelyabinsk meteor which occurred in 2013.
Sources: Daily Mail, Sky News