Known as 2002MN, it flew past the Earth on 14 June, but it remained unnoticed by astronomers until the 17th.
And experts are concerned that it could have remained undiscovered for so long.
But the space rock is considered small when compared with many other asteroids and would not have caused damage on a global scale.
A similar sized object flattened a 20-mile-wide patch of Siberian forest in 1908.