The floating space rock, tagged Asteroid 2012 BX34, came within 36,750 miles of Earth, or about a fifth of the distance between the Earth and the moon, said a Twitter post from Asteroid Watch, operated by NASA's Jet Propulsion Laboratory's Near Earth Object Office.
The asteroids closest approach occurred about 10:25 a.m. EST, CNN reported.
Before its approach, astronomers had said there was no danger to anyone on Earth from the 37-foot diameter asteroid.
"It wouldn't get through our atmosphere intact even if it dared to try," an Asteroid Watch tweet said.
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