"While this asteroid no longer poses a significant impact hazard to Earth, 2024 YR4 provided an invaluable opportunity" for study, NASA added.
But anyone faintly worried about a potential Armageddon scenario can now rest easy - the European Space Agency has slashed the chance of impact on Earth to 0.001%, and NASA to 0.0017%.
The US space agency said it poses "no significant impact risk to Earth in 2032 and beyond".
The 2024 YR4 asteroid climbed to the top of the risk list earlier this month when the chance of a collision in 2032 tripled from 1.2% to about 3% (about one in 33).
An asteroid that had a very small chance of hitting Earth is no longer a potential threat, according to scientists.
