The small space rock passed 7,600 miles above the Earth's surface over the southern Atlantic Ocean at about 10 a.m. PT. Astronomers first thought it would hit at about 6:30 a.m.
The asteroid is about 33-feet long and was discovered last week by astronomers in New Mexico.
Scientists say asteroids this size sail past Earth every six years. Earlier this year an even smaller space rock came within 3,400 miles of Earth.
The Associated Press contributed to this report.