The object, named 2023 DZ2, was discovered a month ago.
BBC reports as predicted by scientists, it passed within 175,000km of the Earth on Saturday after flying past the Moon.
It is rare for such a huge asteroid - estimated to be between 40 and 90m in diameter - to come so close to the planet.
Astronomers described it as a once-in-a decade event.
According to Nasa, it was an important opportunity for astronomers to increase their knowledge of asteroids, in the event that a dangerous object were discovered with the potential to hit Earth.